scholarly journals Development of Subcarangiform Bionic Robotic Fish Propelled by Shape Memory Alloy Actuators

2021 ◽  
Vol 71 (1) ◽  
pp. 94-101
Author(s):  
M. Muralidharan ◽  
I.A. Palani
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Kinematic Model ◽  
Open Loop ◽  
Robotic Fish ◽  
Water Medium ◽  
Light Weight ◽  
Caudal Fin ◽  
Locomotion Pattern ◽  
Sma Spring

In this paper, a shape memory alloy (SMA) actuated subcarangiform robotic fish has been demonstrated using a spring based propulsion mechanism. The bionic robotic fish developed using SMA spring actuators and light weight 3D printed components can be employed for under water applications. The proposed SMA spring-based design without conventional motor and other rotary actuators was able to achieve two-way shape memory effect and has reproduced the subcarangiform locomotion pattern. The positional kinematic model has been developed and the dynamics of the proposed mechanism were analysed and simulated using Automated Dynamic Analysis of Mechanical Systems (ADAMS). An open loop Arduino-relay based switching control has been adopted to control the periodic actuation of the SMA spring mechanism. The undulation of caudal fin in air and water medium has been analysed. The caudal fin and posterior body of the developed fish prototype have taken part in undulation resembling subcarangiform locomotion pattern and steady swimming was achieved in water with a forward velocity of 24.5 mm/s. The proposed design is scalable, light weight and cost effective which may be suitable for underwater surveillance application.

Design of a 2 DOF Shape Memory Alloy Actuator Using SMA Springs

2021 ◽  
Author(s):  
Hussein F. M. Ali ◽  
Youngshik Kim
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Open Loop ◽  
Degree Of Freedom ◽  
Biologically Inspired ◽  
Loop Control ◽  
Actuator System ◽  
Sma Actuator ◽  
Sma Spring ◽  
Two Degree Of Freedom

Abstract In this paper, we developed two degree of freedom shape memory alloy (SMA) actuator using SMA springs. This module can be applied easily to various applications: device holder, artificial finger, grippes, fish robot, and many other biologically inspired applications, where small size and small wight of the actuator are very critical. This actuator is composed of two sets of SMA springs: one set is for the rotation around the X axis (roll angle) and the other set is for the rotation around the Y axis (pitch angle). Each set contains two elements: one SMA spring and one antagonistic SMA spring. We used an inertia sensor (IMU) and two potentiometers for angles feedback. The SMA actuator system is modeled mathematically and then tested experimentally in open-loop and closed-loop control. We designed and experimentally tuned a proportional integrator derivative (PID) controller to follow the set points and to track the desired trajectories. The main goal of the presented controller is to control roll and pitch angles simultaneously in order to satisfy set points and trajectories within the work space. The experimental results show that the two degree of freedom SMA actuator system follows the desired setpoints with acceptable rise time and overshoot.

Development of shape memory alloy actuated caudal fin soft robotic fish propulsion system

2021 ◽  
Author(s):  
Abel Thanagawng ◽  
Rylan King ◽  
Vasil Lakimovitch ◽  
Marius Pruessner ◽  
Lloyd Emokpae ◽  
...  
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Propulsion System ◽  
Robotic Fish ◽  
Caudal Fin ◽  
Fish Propulsion

Development of a Shape Memory Alloy (SMA) Based Assistive Hand

2015 ◽  
Vol 1115 ◽  
pp. 454-457 ◽  
Author(s):  
Alala M. Ba Hamid ◽  
Mohatashem R. Makhdoomi ◽  
Tanveer Saleh ◽  
Moinul Bhuiyan
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Sensory System ◽  
Open Loop ◽  
Rehabilitation Robotics ◽  
Robotic Hand ◽  
After Effect ◽  
Conventional Structure ◽  
Force Mechanism ◽  
Gripping Force

In Malaysia, every year approximately 40000 people suffer from stroke and many of them become immobilized as an after effect. Rehabilitation robotics to assist disabled people has drawn significant attention by the researchers recently. This project also aims to contribute to this field. This paper presents a Shape Memory Alloy (SMA) actuated wearable assistive robotic hand for grasping. The proposed design is compact and sufficiently light to be used as an assistive hand. It is a joint less structure, has the potential because the human skeleton and joint replace the robot’s conventional structure. This design has been implemented on index and thumb fingers to enable grasping. Shape memory alloy springs and bias force mechanism are used for purpose of hand’s flexion and extension. This paper describes the mechatronic design of the wearable hand, experimental study of actuation unit and sensory system. Open loop experiments are conducted to understand the hand characterization and grip force provided by index finger. Current, temperature, extension and contraction of shape memory alloy springs are reported. This mechanism requires approximately 2A current for the SMA to actuate which provides maximum of 1.6N of gripping force. Conducted experiments show promising results that encourage further developments.

Design, Simulation and Testing of Shape Memory Alloy Actuator for Mixing Two Solutions in High-Pressure Optical Cell for Biophysical Studies

2006 ◽  
Author(s):  
Hongchun Xie ◽  
Jack Zhou ◽  
Parkson Chong
Keyword(s):  
High Pressure ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Nickel Titanium ◽  
Intensity Change ◽  
Optical Cell ◽  
Pull Out ◽  
Spring Force ◽  
Heat Response ◽  
Sma Spring

Window-type high-pressure optical cells (HPOC) such as the one designed by Paladini and Weber [Rev. Sci. Instrum. 52, (1981) p. 419] have provided biophysicists a powerful tool to understand the structure-function relationships of biological molecules. However, the conventional HPOC is only good for single solution testing and does not allow for quick mixing and stirring of additional components while the sample is under pressure. To mix two solutions under pressure, Zhou et al [Rev. Sci. Instrum. 69, (1998) p. 3958] developed a laser activated dual chamber HPOC. However, the expensive laser device and its unavailability in most laboratories make the application difficult. In a later study, Zhou et al. [Rev. Sci. Instrum. 71, (2000) p. 4249] introduced shape memory alloy (SMA) as an actuator to unplug a urethane stopper with a biasing spring for agitation. The drawback is that the biasing spring blocks the observing light beam and creates unwanted reflections. This research is to construct an actuator with concentric SMA spring and compressive biasing spring: an SMA helical tensile spring to pull out the stopper to let two solutions mix; and a helical compressive spring to bias and to agitate solutions, and to leave the lower half cuvette clear for optical observation. Due to the limited space in the cuvette, the alignment of two springs is critical for both motion and heat response to activate each spring separately. This paper discusses the design of SMA actuator, SMA spring testing and mixing testing by the SMA spring actuator. Since SMA (nickel-titanium) spring is not solderable and crimping method is limited due to the space, a conductive adhesive is used not only to fix the alignment between springs and cap, but also to conduct electric current. Spring force testing was done by INSTRON. Mixing testing used flourescein intensity change to trace the mixing process. The bio-compatibility of the nickel-titanium SMA with proteins and phospholipids has also been tested.

Twelve Degree of Freedom Baby Humanoid Head Using Shape Memory Alloy Actuators

2011 ◽  
Vol 3 (1) ◽  
Author(s):  
Yonas Tadesse ◽  
Dennis Hong ◽  
Shashank Priya
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Kinematic Model ◽  
Complementary Metal Oxide Semiconductor ◽  
The Body ◽  
Oxide Semiconductor ◽  
Simulink Model ◽  
The Face ◽  
Nonlinear Dynamics Model ◽  
Driving Circuit

A biped mountable robotic baby head was developed using a combination of Biometal fiber and Flexinol shape memory alloy actuators (SMAs). SMAs were embedded in the skull and connected to the elastomeric skin at control points. An engineered architecture of the skull was fabricated, which incorporates all the SMA wires with 35 routine pulleys, two firewire complementary metal-oxide semiconductor cameras that serve as eyes, and a battery powered microcontroller base driving circuit with a total dimension of 140×90×110 mm3. The driving circuit was designed such that it can be easily integrated with a biped and allows programming in real-time. This 12DOF head was mounted on the body of a 21DOF miniature bipedal robot, resulting in a humanoid robot with a total of 33DOFs. Characterization results on the face and associated design issues are described, which provides a pathway for developing a humanlike facial anatomy using wire-based muscles. Numerical simulation based on SIMULINK was conducted to assess the performance of the prototypic robotic face, mainly focusing on the jaw movement. The nonlinear dynamics model along with governing equations for SMA actuators containing transcendental and switching functions was solved numerically and a generalized SIMULINK model was developed. Issues related to the integration of the robotic head with a biped are discussed using the kinematic model.

Thermo-Mechanical Modeling of a Shape Memory Alloy Heat Engine

2011 ◽  
Author(s):  
Christopher B. Churchill ◽  
John Shaw
Keyword(s):  
Heat Transfer ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Heat Engine ◽  
The United States ◽  
Thermodynamic Efficiency ◽  
Low Grade ◽  
Heat Engines ◽  
Deformation Mechanics ◽  
Sma Spring

Two thirds of the energy generated in the United States is currently lost as waste heat, representing a potentially vast source of green energy. Low Carnot efficiency is an inherent limitation of extracting energy from low-grade thermal sources (temperature gradients near or below 100C), and SMA heat engines could be useful for those applications where low weight and packaging are overriding considerations. Although many shape memory alloy (SMA) heat engines have been proposed to harvest this energy, and a few have been built and demonstrated in past decades, they have not been commercially successful. Some of the barriers to commercialization include their perceived low thermodynamic efficiency, high material cost, low material durability, complexities when using fluid baths, and the lack of robust constitutive models and design tools. Recent advances, however, in SMA longevity, reductions in materials costs (as production volumes have increased), and a better understanding of SMA behavior have stimulated new research on SMA heat engines. The Lightweight Thermal Energy Recovery System (LighTERS) is an ongoing ARPA-E funded collaboration between General Motors, HRL Laboratories, Dynalloy, Inc., and the University of Michigan. In the LighTERS engine (a refinement of the Dr. Johnson engine), a closed loop SMA spring element generates mechanical power by pulling itself between alternating hot and cold air regions. The first known thermo-mechanical model for this type of heat engine was developed in three stages. First, the constitutive and heat transfer relationships of an SMA spring form were characterized experimentally. Second, those relationships were used as inputs in a steady-state model of the heat engine, including both convective heat transfer and large-deformation mechanics. Finally, the model was validated successfully against measurements of a experimental heat engine built at HRL Labs.

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.

Nonlinear Control of a Shape Memory Alloy Actuated Manipulator

2002 ◽  
Vol 124 (4) ◽  
pp. 566-575 ◽  
Author(s):  
Mohammad H. Elahinia ◽  
Hashem Ashrafiuon
Keyword(s):  
Robust Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Algorithm ◽  
Weighted Average ◽  
Nonlinear Behavior ◽  
Variable Structure ◽  
Open Loop ◽  
Nonlinear Robust Control ◽  
Nonlinear Robust

This paper presents a nonlinear, robust control algorithm for accurate positioning of a single degree of freedom rotary manipulator actuated by Shape Memory Alloy (SMA). A model for an SMA actuated manipulator is presented. The model includes nonlinear dynamics of the manipulator, a constitutive model of Shape Memory Alloy, and electrical and heat transfer behavior of SMA wire. This model is used for open and closed loop motion simulations of the manipulator. Experiments are presented that show results similar to both closed and open loop simulation results. Due to modeling uncertainty and nonlinear behavior of the system, classic control methods such as Proportional-Integral-Derivative control are not able to present fast and accurate performance. Hence a nonlinear, robust control algorithm is presented based on Variable Structure Control. This algorithm is a control gain switching technique based on the weighted average of position and velocity feedbacks. This method has been designed through simulation and tested experimentally. Results show fast, accurate, and robust performance of the control system. Computer simulation and experimental results for different stabilization and tracking situations are also presented.

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