Page 217 - Flexible Robotics in Medicine
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204 Chapter 8
Table 8.4: Dimensions of the three nitinol tubes.
Outer diameter (mm) Inner diameter (mm) Wall thickness (mm)
Tube 1 4.0 3.0 0.5
Tube 2 4.0 2.5 0.75
Tube 3 4.0 2.0 1.0
Figure 8.8
Nitinol tube before and after bending.
flexibility of the tube. Stainless steel of the same dimension was further laser cut for
comparison.
Comparing both designs, bending could be achieved for fishbone-like design 1. Design 2,
on the other hand, was too stiff and fractured when a bending force was applied.
Comparing nitinol and stainless steel, nitinol was able to return to its initial shape (Fig. 8.8)
