A compliant robotic grip structure based on shape memory polymer composite

Functional structures based on shape memory polymer composites (SMPCs) are featured with the superiority of circumstance sensitivity, lightweight, and high loading capability. This work presents the design, fabrication, evaluation, and application of a compliant robotic grip structure based on SMPC. The grip structure was designed and fabricated with a configuration of curving SMPC finger for target capture function. Then, the material property of the SMPC sample was investigated by dynamic mechanical analysis (DMA), and the shape memory effect was modeled via the viscoelasticity described by the Prony series and WLF equation. The performance of the gripper was constructed and analyzed by finite element analysis (FEA), and experimental data verified the simulation results showing good agreement. Furthermore, the recovery force and recovery angle of a single SMPC gripper were estimated, and the results indicated a 100% deformation recovery and a maximum recovery force of 2.6 N. Finally, the functionality and adaptability of the system were illustrated and validated by workflow demonstration and various target tasks. This paper outlines the actuation mechanism, evaluation methods, and performance estimation of the proposed compliant robotic grip structure and shows the potential for promising industrial applications.