Motion Principle and Experimental Research on a Swing Joint Differential Driven by Shape Memory Alloy

2013 ◽  
Vol 771 ◽  
pp. 203-208
Author(s):  
Yuan Gui Tang ◽  
Ai Qun Zhang
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Experimental Research ◽  
Structural Parameters ◽  
Underwater Vehicles ◽  
Thermodynamic Performance ◽  
Experimental Base ◽  
Driving Condition ◽  
Sma Actuator ◽  
Amphibious Robot

A kind of shape memory alloy (SMA) differential drive method and its experiment equipment can be used in swing joint of a micro amphibious robot is presented. According to its motion character, motion principle of the swing joint differential driven by SMA is analyzed. The basic thermodynamic performance of the SMA springs with different structural parameters is researched by experimentation. Aiming at the SMA differential actuator composed by SMA springs in different structural parameters, experimental research and analysis on the response ability of the SMA actuator is carried out in various driving condition and environment, which can be used to provide experimental base and data support for applying SMA drive technique in propulsive area of underwater vehicles.

scholarly journals Bio-inspired Miniature Suction Cups Actuated by Shape Memory Alloy

10.5772/7228 ◽  
2009 ◽  
Vol 6 (3) ◽  
pp. 29 ◽  
Author(s):  
Hu Bing-Shan ◽  
Wang Li-Wen ◽  
Fu Zhuang ◽  
Zhao Yan-zheng
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Analytical Model ◽  
Basic Structure ◽  
Thin Elastic Plate ◽  
Climbing Robots ◽  
Suction Cup ◽  
Sma Actuator ◽  
Suction Cups ◽  
Pressure Suction

Wall climbing robots using negative pressure suction always employ air pumps which have great noise and large volume. Two prototypes of bio-inspired miniature suction cup actuated by shape memory alloy (SMA) are designed based on studying characteristics of biologic suction apparatuses, and the suction cups in this paper can be used as adhesion mechanisms for miniature wall climbing robots without air pumps. The first prototype with a two-way shape memory effect (TWSME) extension TiNi spring imitates the piston structure of the stalked sucker; the second one actuated by a one way SMA actuator with a bias has a basic structure of stiff margin, guiding element, leader and elastic element. Analytical model of the second prototype is founded considering the constitutive model of the SMA actuator, the deflection of the thin elastic plate under compound load and the thermo-dynamic model of the sealed air cavity. Experiments are done to test their suction characteristics, and the analytical model of the second prototype is simulated on Matlab/simulink platform and validated by experiments.

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.

Discrete Preisach Model of a Shape Memory Alloy Actuator

2016 ◽  
Vol 248 ◽  
pp. 227-234
Author(s):  
Waldemar Rączka ◽  
Jarosław Konieczny ◽  
Marek Sibielak ◽  
Janusz Kowal
Keyword(s):  
Mathematical Model ◽  
Shape Memory Alloy ◽  
Parameter Identification ◽  
Shape Memory ◽  
Preisach Model ◽  
Discrete Form ◽  
Nonlinear Characteristics ◽  
Shape Memory Alloy Actuator ◽  
Sma Actuator ◽  
Identification Model

Shape Memory Alloy is a material used to designing actuators. These actuators have many advantages. They are light, strong and silent. They are building in laboratory and tested because beside advantages they have disadvantages too. SMA actuators have nonlinear characteristics with hysteresis loop.In the first part of the paper Shape Memory Alloys are shortly described. Next mathematical model was formulated. In the paper the Preisach model was developed. Discrete form of the model was considered and implemented. After parameter identification model was implemented in LabView. Tests of the model were conducted and results were worked. Obtained characteristics of the SMA actuator are shown in the paper. At the end of the paper the conclusions were formulated.

scholarly journals Middle ear vibrations with SMA prosthesis. Experimental research

2018 ◽  
Vol 148 ◽  
pp. 12001
Author(s):  
Rafal Rusinek ◽  
Marcin Szymanski ◽  
Grzegorz Teresinski
Keyword(s):  
Transfer Function ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Temporal Bone ◽  
Experimental Research ◽  
Middle Ear ◽  
Round Window ◽  
Laser Doppler Vibrometer ◽  
Laser Doppler ◽  
Middle Ear Prosthesis

The paper focuses on experimental research of a middle ear prosthesis made of shape memory alloy. The prosthesis provides better adjustment to individual patient than classical prosthesis. The shape memory prosthesis is implemented to a fresh temporal bone and vibrations of the round window are recorded by means of the Laser Doppler Vibrometer. Finally, the results are presented in the form of transfer function and compared to the intact and damaged middle ear.

Modeling and Tracking Control System of Shape Memory Alloy Actuator

2007 ◽  
Author(s):  
B. Y. Ren ◽  
B. Q. Chen
Keyword(s):  
Control System ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Tracking Control ◽  
Fuzzy Controller ◽  
Smart Structures ◽  
Constitutive Law ◽  
Hysteresis Model ◽  
Sma Actuators ◽  
Sma Actuator

The different Shape Memory Alloy (SMA) actuators have been widely used in the fields of smart structures. However, the accurate prediction of thermomechanical behavior of SMA actuators is very difficult due to the nonlinearity of inherence hysteresis of SMA. Therefore, the tracking control accuracy of SMA actuator is very important for the practical application of the SMA actuator. A dynamic hysteresis model of bias-type SMA actuator based on constitutive law developed by Brinson et al. and hysteresis model developed by Ikuta et al. is presented. The control systems composed of the Proportional Integral Derivative (PID) controller as well as a fuzzy controller or a fuzzy-PID composite controller for compensating the hysteresis is proposed. The effort of tracking control system is analyzed according to the simulation on the displacement of SMA actuator with the three kinds of controllers. The result can provide a reference for the application of SMA actuator in the fields of smart structures.

A Novel Design of a Large-Stroke Shape Memory Alloy Linear Actuator

2019 ◽  
Author(s):  
Fei Yang ◽  
Jian Wang ◽  
Miaoling Han ◽  
Yifan Lu ◽  
Honghao Yue ◽  
...  
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Linear Actuator ◽  
Confined Space ◽  
Output Displacement ◽  
Tandem Structure ◽  
In Series ◽  
Sma Actuator ◽  
Application Fields ◽  
Actuation Systems

Abstract The traditional actuation systems such as combustion engines, electro motors, hydraulic and pneumatic machines, have several drawbacks: large volume and weight, huge energy consumption and high cost. To overcome these problems, this paper presents a novel large-stroke linear actuator actuated by shape memory alloy (SMA) wires. Multiple SMA wires are distributed in the space three-dimensionally and connected in series to achieve a larger stroke of the actuator. The tandem structure makes the SMA actuator easy to integrate into a narrow available space with dimension constraints. A theoretical model for bias element selection is developed through analysis of the driving paths. A prototype of the proposed SMA actuator is fabricated and corresponding experiments are conducted to verify the functions and performances. The critical working performances of the SMA actuator such as the output displacement, heating electric current, actuation time and reset time are obtained and investigated. The results prove that the proposed SMA actuator can output an ideal driving stroke and enough actuation force in confined space. This research provides design ideas for the large-stroke SMA actuator in more application fields.

Experimental Research on Two-way Shape Memory Effect of TiNi Shape Memory Alloy

2004 ◽  
Vol 2004.6 (0) ◽  
pp. 279-280
Author(s):  
Tomohiro KATOH ◽  
Masataka TOKUDA ◽  
Tadashi INABA ◽  
Masakazu YAMAZAKI ◽  
Kazuhiro KITAMURA
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Shape Memory Effect ◽  
Memory Effect ◽  
Experimental Research

Thermomechanical Modeling of a Wet Shape Memory Alloy Actuator

2006 ◽  
Author(s):  
Joel Ertel ◽  
Stephen Mascaro
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Temperature Change ◽  
Cold Water ◽  
Uniform Temperature ◽  
Thermomechanical Model ◽  
Martensite Fraction ◽  
Mechanical Models ◽  
Sma Actuator ◽  
The Wire

This paper presents combined thermal and mechanical models of a wet shape memory alloy (SMA) wire actuator. The actuator consists of a SMA wire suspended concentrically in a compliant tube. Actuation occurs as hot and cold water are alternately pumped through the tube to contract and extend the wire, respectively. Although other constitutive models of the behavior of SMA's exist, they generally assume uniform temperature change throughout the SMA actuator. The thermomechanical model presented in this paper accounts for the non-uniform temperature change of the SMA wire due to alternating the temperature of the flow along the wire. The thermal model consists of analysis of the heat transfer between the fluid and the SMA wire. Heat loss to the environment and the temperature change of the fluid through the actuator are taken into account. Based on this analysis the temperature of the wire at segments along its length can be determined as a function of time. The mechanical model approximates the strain-martensite fraction and martensite fraction-temperature relationships. By combining the thermal and mechanical models the strain of the wire can be determined as a function of time. The combined thermomechanical model will be used to model applications in which a wet SMA actuator is desired.

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