Design and Simulation of a Jumping Robot Driven by Shape Memory Alloy and Elastic Energy

2012 ◽  
Vol 8 (1) ◽  
pp. 302-306
Author(s):  
Thanhtam Ho ◽  
Sangyoon Lee
2011 ◽  
Vol 2-3 ◽  
pp. 402-407 ◽  
Author(s):  
Tian Qi Liu ◽  
Shu Ping Chen ◽  
Jiang Long Guo ◽  
Zhi Long Dou ◽  
Chun Liu ◽  
...  

According to the characteristics of jumping locomotion, a solution of Tetra-state Hopping Robot (for short: THR) actuated by Shape Memory Alloy Spring (for short: SMAS) is presented in this paper. This article establishes a mechanical model of the jumping robot and analyzes the kinematics and the dynamics of the mechanical model. Lagrange method is applied to analyze the dynamics the mechanical model. Meanwhile, a preliminary explanation of the THR flipping phenomenon during the take-off and flight process is conducted from the perspective of momentum moment.


2012 ◽  
Vol 729 ◽  
pp. 37-42
Author(s):  
Tarek Y. Elrasasi ◽  
Lajos Daróczi ◽  
Dezső L. Beke

Using our local equilibrium model of the martensitic transformation [ the elastic energy contributions, as the function of martensite volume fraction, ξ, in the phase transformation of single crystalline Cu-11.5wt%Al-5.0wt%Ni shape memory alloy were calculated from our measurements published earlier [. The derivative of the elastic energy δE/δξ=e (E is the total elastic energy stored/released during the austenite to martensite (AM) as well as MA transformation) could be calculated only irrespectively of the ST0 term (T0 is the equilibrium transformation temperature and S is the entropy change of phase transformation). But, since ST0 is independent of ξ, the functions obtained reflect the ξ dependence of e as well as E quantities. From the DSC curves measured at zero uniaxial stress (σ = 0) [, the ξ-T hysteric loop was constructed. Then the e (ξ) curves at fix σ as well as fix T were calculated. The E values obtained from the integral of e (ξ), fit well to the E(σ) as well as E(T) curves calculated from the strain-temperature and stress-temperature curves measured in [.


2003 ◽  
Vol 112 ◽  
pp. 519-522 ◽  
Author(s):  
W. Cai ◽  
J. X. Zhang ◽  
Y. F. Zheng ◽  
L. C. Zhao

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