While the actuator design implemented here was not application-specific, the results justify further research and development of application-specific electrothermal actuators made by extrusion-based manufacturing. The results show a unique hysteresis in the latter relationship, which explains the difference between actuation and recovery times. The actuation and recovery mechanisms were further studied by correlating the observed displacement against the maximum temperature in the chevron. As predicted by the simulation, recovery took significantly longer time than actuation. Experimentally, higher voltages were required for actuation a tip displacement up to 77–117 µm was achieved in 5 s with an operational voltage of 17.5–19.5 V. The actuator was 3D printed and its actuation characterized using a laser Doppler vibrometer and a thermal camera. View attachment 428871 All the pieces of Giant Metal Claw were CNC plasma, then welded them with a Millermatic 252. Light enough that hooking it up is easy enough, can balance it with one hand and slide the retaining pin in with the other. Transient analysis showed that the grippers can be actuated quickly (3–5 s) with voltages as low as 5 V but recover slowly (60–100 s). Total weight is somewhere around 40lbs accordingly to SolidWorks, feels about it. By varying the resistivity of the composite, the operational voltage range was determined using a resistivity of 1.8 Ω-cm led to ~100 µm tip displacement with an operational voltage as low as 3 V. The operational feasibility of the gripper design was determined by transient and steady-state finite element analysis. Here, a MEMS-inspired, chevron-based electrothermal actuator fabricated using material extrusion-based manufacturing of shape memory polymer composite was computationally and experimentally investigated.
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