Meso-scale robot assembly using shape memory polymer rivet fastener

This paper describes a novel rivet fastener made with shape memory polymer (SMP). Shape recovery and modulus change are main two properties of SMPs that enable themselves to be promising base materials for fasteners. The new type of fastener was used to join two composite parts of a meso-scale robot. The fabrication procedure includes macro molding and subsequent laser machining in order to enhance manufacturability, and change size and design on demand. By pull-off experiment it was demonstrated that one single rivet can endure 8N of disengagement force. We applied this fastener to meso-scale flea robot and verified its feasibility.