Design and Characterization of a Fully Integrated Continuum Robot Actuated by Shape Memory Alloy Wires

Continuum robots find applications in variety of fields such as medicine, industry, and security. Suitable actuators represent a critical aspect to effectively control their complex motion. Common solutions are characterized by bulky driving units placed at the robot base. Despite this design allows preserving the lightweight nature of the active part, it still affects size, weight, and mobility of the system. This paper presents a novel concept of a fully integrated continuum robot driven by Shape Memory Alloy (SMA) wire actuators. The SMAs are embedded within the flexible structure by keeping the overall robot compact and lightweight. Mechanical design and assembly are first described in detail showing the unique features and capabilities. An electro-mechanical characterization of the prototype is then conducted by means of a custom setup equipped with a motion tracking camera. The results will support further studies targeted at modeling and motion control of SMA continuum robots.