Three different designs for a frictionless joint driven by SMA linear actuators. The top and bottom white parts are connected with 3 strips of rubber that curve around opposite sides so the white parts can roll back and forth on each other with virtually no friction. When the actuator extends, it will pull the cable which is connected to the other end of the joint and will flex the joint in one way or another.
Here's two pictures of the finished product. 3D printing was done on an Objet Connex 500.
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