Modularized Paper Actuator Based on Shape Memory Alloy, Printed Heater, and Origami

Abstract

Smart materials promote the development of soft actuators. Herein, the modularized origami soft actuators consisting of shape memory alloy (SMA) wires, foldable paper‐based heaters, and paper substrates with special origami structures are proposed, which are connected without adhesive and allow convenient replacement for damaged parts. SMA wires are threaded into the paper as a drive module. The foldable paper‐based heaters with a length of 288 mm can be heated to 105.1 °C at 6.5 V to control the origami soft actuators. Combined with theoretical calculations and experimental measurements, the origami structure is adopted which exhibits a high recoverability compared with the flat structure because the design finds a structure–material balance by increasing structural flexural rigidity (2 times of that flat structure) for improving the restoring force while maintaining the deformation of materials within the elastic region during the actuation. The three modules in the origami actuator are independent and perform their functions individually. The combined system can also become a module that provides a driving force in other devices. This work provides a novel route and insight for developing modular soft actuators.