scholarly journals Workspace analysis of 3-DOF U-shape base planar parallel robotic motion stage using shape memory alloy restoration technique (SMART) linear actuators

2021 ◽  
Vol 3 (4) ◽  
Author(s):  
Deep Singh ◽  
Rutupurna Choudhury ◽  
Yogesh Singh ◽  
Manidipto Mukherjee
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Heat Dissipation ◽  
Parallel Manipulators ◽  
Fused Deposition Modelling ◽  
Fused Deposition ◽  
Revolute Joints ◽  
Restoration Technique ◽  
Low Weight ◽  
Linear Actuators

AbstractThe applications of lightweight planar parallel robotic manipulators are increasing enormously because of its various desirable characteristics such as low weight, lower inertia and higher stiffness. Higher accelerations and accuracies can be achieved in planar parallel manipulators. Also, shape memory alloy restoration technique (SMART)-based linear actuators are replacing huge and bulky linear actuators. This study presents the kinematic design of smart linearly actuated family of U-shape base planar parallel robotic manipulator. With the aid of solid modelling software, different available configurations were modelled and their workspace was analysed. The developed 3-DOF motion stages (18 unique configurations) were fabricated using fused deposition modelling process, and the top three configurations having higher workspace were further experimented. It is interesting to observe that the actual or experimental workspace of a particular manipulator configuration is further minimised from the predicted or feasible workspace. It is due to the presence of passive links, singularities, friction between the parts, heat dissipation, force distribution, stiffness, etc. The present study depicts the experimental workspace of the top three configurations, namely PPR-PRP-PRR, PRP-PPR-PRP and PRP-PPR-PRR. Since none of the experimental workspace observed is equal or higher than the model workspace, an efficiency loss in terms of workspace reduction was calculated to understand the acceptability of the configurations in different domains. Apart from the loss, the result disclosed that the actual workspace of all the manipulators was within the feasible workspace domain of mobile platform. The PPR-PRP-PRR manipulator was found to possess highest experimental workspace than other configurations. Note: P, P, and R refer to active prismatic, passive prismatic and passive revolute joints respectively.

Design and Realization of Temperature-Driven Smart Structure Based on Shape Memory Polymer in 4D Printing

2019 ◽  
Author(s):  
Yixiong Feng ◽  
Siyuan Zeng ◽  
Yicong Gao ◽  
Hao Zheng ◽  
Hao Qiu ◽  
...  
Keyword(s):  
Shape Memory ◽  
Design Method ◽  
Shape Memory Polymer ◽  
Smart Structure ◽  
Fused Deposition Modelling ◽  
4D Printing ◽  
Printing Process ◽  
Fused Deposition ◽  
Average Accuracy ◽  
Printing Method

Abstract In the traditional 4D printing method using Shape Memory Polymer (SMP), the design process and preparation of 4d printing are complex. In this research, we proposed a design method of a temperature-driven SMP smart structure and made Realization. This smart structure also a bilayer structure use an SMP material in one printing process to realize the deformation in 4D printing. The design of the smart structure is mainly realized by parameter allocation in the printing process, such as print line width, print line height, print temperature, simulation temperature, and fill the form in Fused Deposition Modelling (FDM). Through experimental determination and analysis of statics and thermodynamics, our method fitting out the model relationship between process parameters and the curvature and strain of smart structure. This bilayer smart structure widely applied to the self-folding. In the example stage, this paper mainly uses PLA as an SMP material for the preparation of structure. Observing that the motion behaviors of the smart structure conformed to the model measured in this paper, the average accuracy of the strategy reaches 95%.

Experimental Implementation of Opposed Shape Memory Alloy Wires for Actuator Control

2015 ◽  
Vol 137 (1) ◽  
Author(s):  
Jeremy Kolansky ◽  
Pablo Tarazaga ◽  
O. John Ohanian,
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory Alloys ◽  
Shape Memory ◽  
Open Loop ◽  
Force Generation ◽  
Cooling Strategies ◽  
Experimental Implementation ◽  
Linear Actuators ◽  
Actuator Control ◽  
Angle Of Rotation

Shape memory alloys (SMAs) are capable linear actuators. This research demonstrates the capabilities of SMA wires for the control of a pivot actuator. The wires impart opposing forces to control the motion of the pivot, and their deformation lengths are used to control the angle of rotation. The performance of the actuator is demonstrated through the tracking of a trajectory. Several effects that are important to the behavior of the actuator are also investigated. These are the block force generation of SMA wires for various temperatures and cooling strategies, and the open-loop response of the system.

Electronic Instrumentation for Shape Memory Alloy Actuators

2020 ◽  
Author(s):  
Luzia Marcela Magalhães Lopes ◽  
Maxsuel Ferreira Cunha ◽  
José Marques Basílio Sobrinho ◽  
Cícero Da Rocha Souto ◽  
Andreas Ries ◽  
...  
Keyword(s):  
Phase Transformation ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Helical Spring ◽  
Voltage Measurement ◽  
Power Capacity ◽  
Type Alloy ◽  
Low Weight ◽  
Spring Type ◽  
Electronic Instrumentation

Shape memory alloy (SMA) actuators have been increasingly found applications due to their low weight and high power capacity. Additionally they are able to function as a sensor. Upon phase transformation, the material changes its electrical resistance. Phase transformation in SMAs occurs either by loading or heating the material. Since SMAs materials are usually metals, heat can be produced by passing an electric current through the alloy. This idea in mind, the present work reports the development of electronic circuits for power supply, current measurement and voltage measurement for shape memory alloy actuators. For validation of the operation of the designed circuits, a NiTi helical spring type alloy actuator was tested. The actuator was mounted on a mechanical platform; it was possible to determine its thermal behavior and force generation. Characteristic operation curves of the helical spring type actuator are presented.

Shape Memory Alloy Actuator (SMA)

2015 ◽  
Vol 816 ◽  
pp. 9-15
Author(s):  
Oskar Ostertag ◽  
Eva Ostertagová
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Shape Memory Material ◽  
Sma Actuators ◽  
Shape Memory Alloy Actuator ◽  
Memory Material ◽  
Low Weight ◽  
Mechanical Element ◽  
Great Force

Our article deals with the possibility of using shape memory material (SMA − Shape Memory Alloy) to create an actuator of the mechanical element. The biggest advantage of the SMA actuators compared to those made of conventional materials is that they have the ability to generate relatively great force, are of low weight and small size.

scholarly journals Intelligent Heat Dissipation Device Based on Shape Memory Alloy

2020 ◽  
Vol 782 ◽  
pp. 022083
Author(s):  
Yanlong Wang ◽  
Sanwu Wang ◽  
Xi Huang ◽  
Chengchi Li
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Heat Dissipation

On 3D-printed ZnO-reinforced PLA matrix composite: Tensile, thermal, morphological and shape memory characteristics

2020 ◽  
pp. 089270572093596
Author(s):  
Mohit Singh ◽  
Rupinder Singh ◽  
Ranvijay Kumar ◽  
Pawan Kumar ◽  
Pawan Preet
Keyword(s):  
Shape Memory ◽  
Process Parameters ◽  
Maximum Modulus ◽  
Atmospheric Temperature ◽  
Maximum Strength ◽  
Fused Deposition Modelling ◽  
Scanning Calorimetry ◽  
Fused Deposition ◽  
3D Printed ◽  
Memory Characteristics

The zinc oxide (ZnO)-reinforced polylactic acid (PLA) matrix has established shape memory characteristics. But hitherto little has been reported on two-way programmed 3D-printed ZnO-reinforced PLA functional prototypes (prepared on commercial fused deposition modelling (FDM) set-up). This article reports the effect of 3D printing process parameters on tensile, thermal, morphological and two-way programmed shape memory characteristics of ZnO-reinforced PLA-based functional prototypes. It has been ascertained that the maximum strength at peak (14.32 MPa) and maximum strength at break (12.89 MPa) were observed for sample printed at 80% infill density, four number of perimeters with triangular pattern. Maximum Young’s modulus (233.68 MPa) was observed for samples printed at 80% infill density and three perimeters with honeycomb pattern. Also, the maximum modulus of toughness (0.883 MPa) was observed in case of sample printed at 80% infill density, five perimeters with rectilinear pattern. Further based upon thermal analysis using differential scanning calorimetry, it has been ascertained that there is no significant effect of FDM process parameters on normalized heat capacity of functional prototype. As regards to two-way programmed specimens, it has been observed that the porosity of functional prototypes increase with 30 min immersion in water as stimulus at 70°C and it again decreases (regain) after 30 min exposure at atmospheric temperature. Contrary to this, the samples’ porosity values decrease with 30 min immersion in water at 10°C and regain after 30 min exposure at atmospheric temperature. Further some effect of shape memory has been noticed on functional prototypes volume and weight at two different temperatures.

Parametric Analysis of a Compliant Hinge Mechanism for a Shape Memory Alloy Actuated Arm

2017 ◽  
Author(s):  
Cody Wright ◽  
Onur Bilgen
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Elbow Joint ◽  
Parametric Analysis ◽  
Complex Geometries ◽  
Biceps Muscle ◽  
Dead Load ◽  
Revolute Joints ◽  
Material Solution ◽  
Application Requirements

A compliant hinge is proposed to replace conventional revolute joints for a shape memory alloy actuated arm-like mechanism. The arm-like mechanism is designed to replicate the articulation of the elbow joint, linking the humerus and radius, while being able to lift a dead load using a shape memory alloy wire as the biceps muscle. A parametric analysis on hinge geometry and Young’s modulus is performed to determine if a feasible geometric and material solution exists based on the application requirements. The results indicate optimum solutions are logarithmically correlated between modulus of elasticity and width-to-thickness ratio. Overlaying the results of the parametric study onto an Ashby chart indicates that large hinge widths are necessary. These results indicate more complex geometries are needed for arm-like manipulator applications.

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