Journal articles: 'Shape Memory Alloy Actuators'

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Yuan, Han, Jean–Christophe Fauroux, Frédéric Chapelle, and Xavier Balandraud. "A review of rotary actuators based on shape memory alloys." Journal of Intelligent Material Systems and Structures 28, no. 14 (January 9, 2017): 1863–85. http://dx.doi.org/10.1177/1045389x16682848.

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The development of rotary actuators is an important aspect of the engineering applications of shape memory alloys. This article reviews about a hundred references on this topic, and presents around eighty actuators driven by shape memory alloys. A classification is made according to the type of rotation (continuous or non-continuous, single or reversible direction). Different factors are then discussed, such as the characteristics of the shape memory alloy elements, the heating and cooling system for the shape memory alloy, the control of the actuator, and the output torque and stroke which can be attained. This article provides the first review focused on rotary actuators triggered by shape memory alloys, highlighting the specificities and potentialities of such actuators for new applications in the future.

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Ostertag, Oskar, and Eva Ostertagová. "Shape Memory Alloy Actuator (SMA)." Applied Mechanics and Materials 816 (November 2015): 9–15. http://dx.doi.org/10.4028/www.scientific.net/amm.816.9.

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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.

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Karimi, Saeed, and Bardia Konh. "Self-sensing feedback control of multiple interacting shape memory alloy actuators in a 3D steerable active needle." Journal of Intelligent Material Systems and Structures 31, no. 12 (June 3, 2020): 1524–40. http://dx.doi.org/10.1177/1045389x20919971.

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Percutaneous needle-based intervention is a technique used in minimally invasive surgical procedures such as brachytherapy, thermal ablation, and biopsy. Targeting accuracy in these procedures is a defining factor for success. Active needle steering introduces the potential to increase the targeting accuracy in such procedures to improve the clinical outcome. In this work, a novel 3D steerable active flexible needle with shape memory alloy actuators was developed. Active needle actuation response to a variety of actuation scenarios was analyzed to develop a kinematic model. Shape memory alloy actuators were characterized in terms of their actuation strain, electrical resistance, and required electrical power to design a self-sensing electrical resistance feedback control system for position tracking control of the active needle. The control system performance was initially tested in position tracking control of a single shape memory alloy actuator and then was implemented on multiple interacting shape memory alloy actuators to manipulate the 3D steerable active needle along a reference path. The electrical resistance feedback control of the multiple interacting shape memory alloy actuators enabled the active needle to reach target points in a planar workspace of about 20 mm. Results demonstrated shape memory alloys as promising alternatives for traditional actuators used in surgical instruments with enhanced design, characterization, and control capabilities.

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Rączka, Waldemar, Jarosław Konieczny, Marek Sibielak, and Janusz Kowal. "Discrete Preisach Model of a Shape Memory Alloy Actuator." Solid State Phenomena 248 (March 2016): 227–34. http://dx.doi.org/10.4028/www.scientific.net/ssp.248.227.

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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.

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Liang, C., and C. A. Rogers. "Design of Shape Memory Alloy Actuators." Journal of Mechanical Design 114, no. 2 (June 1, 1992): 223–30. http://dx.doi.org/10.1115/1.2916935.

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This paper describes the design of shape memory alloy force and displacement actuators based upon the thermomechanical constitutive relations previously developed by the authors. Numerical simulations and design case studies are presented which show the utility and advantages of this method over design methods currently being used. The types of actuators described and analyzed include bias spring actuators, differential force actuators, and their hybrid systems. The design approach includes coupling between the one-dimensional thermomechanical constitutive relations and a lumped capacitance transient thermal analysis. The design approach described herein will provide a practical and convenient method for use in the design of shape memory alloy actuators.

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Copaci, Dorin, Dolores Blanco, and Luis E. Moreno. "Flexible Shape-Memory Alloy-Based Actuator: Mechanical Design Optimization According to Application." Actuators 8, no. 3 (August 14, 2019): 63. http://dx.doi.org/10.3390/act8030063.

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New robotic applications, among others, in medical and related fields, have in recent years boosted research in the development of new actuators in the search for solutions that are lighter and more flexible than conventional actuators. Shape-Memory Alloy (SMA)-based actuators present characteristics that make them an excellent alternative in a wide variety of applications. This paper presents the design, tests (with the control description) and analysis of various configurations of actuators based on SMA wires: flexible SMA actuators, different mechanical design to multiply the displacement and different configurations for actuators with multiple SMA wires. The performance of the actuators has been analyzed using wires of different activation temperatures. The influence of the Bowden sheath of the flexible actuator has been tested, as has the thermal behavior of actuators with several wires. This work has allowed determination of the most effective configuration for the development of a flexible actuator based on SMA, from the point of view of dimensions, efficiency, and work frequency. This type of actuator has been applied in the development of soft robots and light robotic exoskeletons.

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Bolocan, Vlad Marius, Dragoș Dumitru Vâlsan, Andrei Novac, Gheorghe Amadeus Chilnicean, Aurel Ercuța, and Corneliu Marius Crăciunescu. "Design of Shape Memory Micro-Actuator Modules with Sequential Actuation." Solid State Phenomena 332 (May 30, 2022): 67–72. http://dx.doi.org/10.4028/p-14r0v3.

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Shape memory alloy film-based micro-actuators have their behaviour controlled by a change in the thermomechanical stress that occurs in the bimorph - shape memory alloy film plus substrate assembly. The modification of the composition of the shape memory alloy leads to a change of the transformation temperature and implicitly of the temperature at which the stress change takes place in the bimorph. The design of micro-actuator blocks in which the composition and/or the temperature control mode of each micro-actuator in the block allows to obtain successive or sequential transformation sequences. The paper analyses the case of cantilever actuator modules with films of different compositions, deposited on the same substrate. It is highlighted how the composition of the alloy film with shape memory influences the modification of the curvature of bimorph cantilever type actuators in the studied block.

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Le, Tien Sy, Holger Schlegel, Welf Guntram Drossel, and Andreas Hirsch. "Antagonistic Shape Memory Alloy Actuators in Soft Robotics." Solid State Phenomena 251 (July 2016): 126–32. http://dx.doi.org/10.4028/www.scientific.net/ssp.251.126.

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The paper presents research concerning the utilization of shape memory alloys in terms of an antagonistic actuator system. The main focus is to determine arrangements for the necessary movements and also to evaluate a suitable control methodology. Most use cases of soft robotics can be accomplished by either linear actuators (cf. earthworm), circular actuators (cf. brachial joint) or a combination of both. Hence, for the research, those two scenarios were taken into account. The paper describes the used simulation model, which bases on a thermo-mechanical submodel of a single SMA actuator. It complements interconnections of physical parameters like temperature, percentage of martensite, elongation and tension. Furthermore, it is shown, how the submodels are connected in a suitable way to establish the required use cases.The position control of either the transversal position or the angle is realized by a PID or PI controller. The paper also shows the impact of parameter changes in the SMA on the achievable position accuracy. Also different strategies for controller design will be discussed.

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Liu, Bingfei, Qingfei Wang, Shilong Hu, Wei Zhang, and Chunzhi Du. "On thermomechanical behaviors of the functional graded shape memory alloy composite for jet engine chevron." Journal of Intelligent Material Systems and Structures 29, no. 14 (June 13, 2018): 2986–3005. http://dx.doi.org/10.1177/1045389x18781257.

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This study presents a theoretical work for a novel adaptive jet engine chevron concept based upon embedding the functionally graded shape memory alloy actuators in a composite laminate, termed a functionally graded shape memory alloy actuator composite. The constitutive models of the functionally graded shape memory alloy actuator composites including the monolayer shape memory alloy composites and multilayer shape memory alloy composites with different volume fractions of the shape memory alloy were first given. An example using such models was discussed on a published finite element work on a shape memory alloy hybrid composite jet engine chevron concept to prove the validity of the theoretical work. The thermomechanical behaviors of the functionally graded shape memory alloy actuator composite with different volume fractions of the shape memory alloy subjected to the thermal loading were then discussed using the obtained constitutive model. The tip deflections of the jet engine chevron with different embedding patterns of the shape memory alloy were finally obtained.

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Ashir, Moniruddoza, Andreas Nocke, and Chokri Cherif. "Development of Actuator Networks by Means of Diagonal Arrangements of Shape Memory Alloys in Adaptive Fiber-Reinforced Plastics." Solid State Phenomena 333 (June 10, 2022): 47–53. http://dx.doi.org/10.4028/p-zq8hvx.

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Adaptive fiber-reinforced plastics (FRP) contain actuators that enable the controlled modification of system states and characteristics. The textile-technical integration of actuators, in particular shape memory alloys, into reinforcing fabrics has increasingly been applied in recent years. The objective is to achieve optimum force transmission from shape memory alloy to FRP, long-term stability of adaptive FRP as well as a maximum degree of deformation. This paper presents the development of actuator networks for adaptive FRP, where two shape memory alloys are integrated into reinforcing fabrics by means of open reed weaving technology. After infusion of the functionalized reinforcing fabrics, the deformation behavior of adaptive FRP was characterized with variable actuator switching frequencies (≥ 1 Hz) or actuator activation times (≤ 1 s).

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Dauksher, Richard, Zachary Patterson, and Carmel Majidi. "Characterization and Analysis of a Flexural Shape Memory Alloy Actuator." Actuators 10, no. 8 (August 22, 2021): 202. http://dx.doi.org/10.3390/act10080202.

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Shape memory alloys (SMAs) are popular as actuators for use in soft robots due to their high work density and compatibility with miniaturized on-board batteries and power electronics. However, because SMA actuators are activated through electrical Joule heating, they exhibit poor energy efficiency and low actuator frequencies that arise from long cool-down times. Moreover, in the case of SMA wires that are subject to flexural loading, their load capacity and mechanical work output decrease exponentially with decreasing cross-sectional area. In this study, we perform analytic and numerical analyses to examine the thermal and structural design space around a particular class of flexural SMA wire actuators with the intention of increasing actuator operating frequency and actuation forces. Measurements obtained through experimental testing are consistent with theoretical studies of actuator force output and provide additional insight into the efficiency of electrical-to-mechanical energy conversion. Together, the theoretical and experimental studies provide insights that have the potential to inform SMA wire design and usage in soft robotic applications.

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Saravanos, Dimitris, Theodoros Machairas, Alex Solomou, and Anargyros Karakalas. "Shape Memory Alloy Morphing Airfoil Sections." Advances in Science and Technology 101 (October 2016): 112–20. http://dx.doi.org/10.4028/www.scientific.net/ast.101.112.

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Shape memory alloys (SMA) provide common solid state actuators with reliable and unique characteristics. Their special behavior is based on a reversible phase transformation and can provide high power density, induced strain and block force which render them indispensable for use in morphing structures that require large shape changes while space and weight restrictions are imposed. Yet, their implementation into morphing structures faces challenges related to their complex multi-disciplinary behavior, their interaction with the passive structural components, geometrical nonlinearity due to large shape changes, the lack of experimental data, and above all, the lack of modelling tools which can robustly simulate the complex thermomechanical behavior and make feasible their design. We briefly review the material characterization process, the developed modelling tools which can simulate the complex thermomechanical response of morphing structures with SMA actuators which can undergo large shape changes under severe geometric nonlinearity, and the testing of prototype morphing components. The design and validation of two morphing structural concepts for curvature control are presented. A morphing strip capable to deform towards a single target shape is initially presented. Subsequently, a morphing airfoil concept implementing an articulated mechanism capable to achieve multiple target shapes for aerodynamic load control is presented. The challenging task to continuously adapt the structural shape to time varying demands, dictates the use of antagonistic actuator configurations to maximize and control the range of morphing. The previously mentioned morphing airfoil configuration is used to alleviate the aerodynamic fatigue loads in wind turbine blades and aircraft wings.

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Wheeler, Robert W., Othmane Benafan, Frederick T. Calkins, Xiujie Gao, Zahra Ghanbari, Garrison Hommer, Dimitris Lagoudas, et al. "Engineering design tools for shape memory alloy actuators: CASMART collaborative best practices and case studies." Journal of Intelligent Material Systems and Structures 30, no. 18-19 (September 22, 2019): 2808–30. http://dx.doi.org/10.1177/1045389x19873390.

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One of the primary goals of the Consortium for the Advancement of Shape Memory Alloy Research and Technology is to enable the design of revolutionary applications based on shape memory alloy technology. To advance this goal and reduce the development time and required experience for the fabrication of shape memory alloy actuation systems, several modeling tools were developed for common actuator types and are discussed along with case studies, which highlight their capabilities and limitations. Shape memory alloys have many potential applications as reliable, lightweight, solid-state actuators given their ability to sustain high stresses and recover large deformations. In this article, modeling frameworks are developed for three common actuator designs: wires, lightweight, low-profile, and easily implemented; coiled springs, offering actuation strokes upward of 200% at reduced mechanical loads; and torque tubes, which can provide large actuation torques in small volumes and repeatable low-load actuation. Although the design and integration of a shape memory alloy–based actuation system requires application- and environment-specific engineering considerations, common modeling tools can significantly reduce the investment required for actuation system development and provide valuable engineering insight. This analysis presents a collection of Consortium for the Advancement of Shape Memory Alloy Research and Technology collaborative best practices to allow readers to utilize the available design tools and understand their modeling principles.

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Rączka, Waldemar, Jarosław Konieczny, and Marek Sibielak. "Laboratory Tests of Shape Memory Alloy Wires." Solid State Phenomena 199 (March 2013): 365–70. http://dx.doi.org/10.4028/www.scientific.net/ssp.199.365.

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In this paper, tests on Shape Memory Alloy (SMA) wires for use in controlled actuators have been discussed. Selected static and dynamic characteristic curves being the result of experiments were presented in the article. Experiments were conducted at the Dynamics and Control of Structures Laboratory of the AGH University of Science and Technology. Laboratory tests of SMA wires used as actuators have been presented in the paper. Actuators made from the wires contract by about 4-5% of their length when heated, like small muscles, and loosen when cooled. SMA wires used as drives are significantly smaller than traditional solutions using motors or electromagnet to execute work. However, these actuators have flaws, such as strongly non-linear hysteresis. These are main problems in designing actuators, which is why SMA wires are often used in the construction of two-state actuators working as on-off actuators. The problems with SMA wires in their applications as drives are their static and dynamic properties, sensitivity to the environment, poor repeatability of production, non-linearity and hysteresis loop. The tested wires were made from a nickel and titanium alloy; this is an alloy which is often used in drive systems.

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Machairas, Theodoros T., Alexandros G. Solomou, Anargyros A. Karakalas, and Dimitris A. Saravanos. "Effect of shape memory alloy actuator geometric non-linearity and thermomechanical coupling on the response of morphing structures." Journal of Intelligent Material Systems and Structures 30, no. 14 (July 10, 2019): 2166–85. http://dx.doi.org/10.1177/1045389x19862362.

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The response of adaptive structures entailing shape memory alloy actuators is investigated both numerically and experimentally in this work. Emphasis is placed on the inclusion of large displacements and rotations, as well as thermomechanical coupling in the simulation of the shape memory alloy actuators. Reduced multi-field beam finite element models for shape memory alloy actuators, encompassing a co-rotational formulation for large displacements and capability to provide the thermomechanically coupled transient response, are briefly overviewed. Prototypes of two adaptive structure configurations are developed, experimentally characterized, and numerically modeled. The measured response of the two prototypes is correlated with respective numerical results that consider both the geometric non-linearity and the thermomechanical coupling of the shape memory alloy actuators. Hence, the influence of these two effects on the predicted response of both the actuator and the adaptive structure is demonstrated. The results quantify also the interactions between geometric non-linearity and thermomechanical coupling terms. As it is shown, better agreement with experimental data is obtained when considering both effects.

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Xiong, Yang, Jin Huang, and Ruizhi Shu. "Thermomechanical performance analysis and experiment of electrothermal shape memory alloy helical spring actuator." Advances in Mechanical Engineering 13, no. 10 (October 2021): 168781402110446. http://dx.doi.org/10.1177/16878140211044651.

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In this paper, an electrothermal shape memory alloy helical spring actuator constructed from shape memory alloy with copper-cored enameled wire is presented and fabricated. Based on the shear constitutive model of a shape memory alloy, the Thermo equilibrium equation and the geometrical equation of helical spring establish the thermomechanical theoretical model of helical spring actuator with electrothermal shape memory alloys under different scenarios. The thermomechanical behaviors of the actuator were verified by numerical simulation with experimental tests, and the actuator thermomechanical properties were derived from the analysis with current, temperature, response time, restoring force, and axial displacement as parameters. The experimental results show that the actuator produces a maximum recovery force of 70.2 N and a maximum output displacement of 7.7 mm at 100°C. The actuator response time is 26 s at a current of 3A. It is also demonstrated that the theoretical model can effectively characterize the complex thermo-mechanical properties of the actuator due to the strong nonlinearity of the shape memory alloy. The experimental temperature-force response and temperature-displacement response, as well as the force-displacement response at different temperatures, provide references for the design and fabrication of electrothermal shape-memory alloy coil spring actuators.

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Xiong, Yang, Jin Huang, and Ruizhi Shu. "Thermomechanical performance analysis and experiment of electrothermal shape memory alloy helical spring actuator." Advances in Mechanical Engineering 13, no. 10 (October 2021): 168781402110446. http://dx.doi.org/10.1177/16878140211044651.

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In this paper, an electrothermal shape memory alloy helical spring actuator constructed from shape memory alloy with copper-cored enameled wire is presented and fabricated. Based on the shear constitutive model of a shape memory alloy, the Thermo equilibrium equation and the geometrical equation of helical spring establish the thermomechanical theoretical model of helical spring actuator with electrothermal shape memory alloys under different scenarios. The thermomechanical behaviors of the actuator were verified by numerical simulation with experimental tests, and the actuator thermomechanical properties were derived from the analysis with current, temperature, response time, restoring force, and axial displacement as parameters. The experimental results show that the actuator produces a maximum recovery force of 70.2 N and a maximum output displacement of 7.7 mm at 100°C. The actuator response time is 26 s at a current of 3A. It is also demonstrated that the theoretical model can effectively characterize the complex thermo-mechanical properties of the actuator due to the strong nonlinearity of the shape memory alloy. The experimental temperature-force response and temperature-displacement response, as well as the force-displacement response at different temperatures, provide references for the design and fabrication of electrothermal shape-memory alloy coil spring actuators.

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Yadav, Shrikant K. "Shape Memory Alloy Actuators: A Review." International Journal for Research in Applied Science and Engineering Technology 7, no. 5 (May 31, 2019): 799–802. http://dx.doi.org/10.22214/ijraset.2019.5134.

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Torres-Jara, E., K. Gilpin, J. Karges, R. J. Wood, and D. Rus. "Compliant Modular Shape Memory Alloy Actuators." IEEE Robotics & Automation Magazine 17, no. 4 (December 2010): 78–87. http://dx.doi.org/10.1109/mra.2010.938845.

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Asua, E., A. García-Arribas, and V. Etxebarria. "Micropositioning using shape memory alloy actuators." European Physical Journal Special Topics 158, no. 1 (May 2008): 231–36. http://dx.doi.org/10.1140/epjst/e2008-00680-4.

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Liang, C., and C. A. Rogers. "Design of Shape Memory Alloy Actuators." Journal of Intelligent Material Systems and Structures 8, no. 4 (April 1997): 303–13. http://dx.doi.org/10.1177/1045389x9700800403.

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Shakiba, Saeid, Aghil Yousefi-Koma, and Moosa Ayati. "Development of a frequency-dependent constitutive model for hysteresis of shape memory alloys." Proceedings of the Institution of Mechanical Engineers, Part L: Journal of Materials: Design and Applications 234, no. 12 (October 6, 2020): 1535–49. http://dx.doi.org/10.1177/1464420720949583.

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In this study, a constitutive model based on Liang-Rogers’s relations is developed to characterize the effect of the excitation frequency in the hysteresis of shape memory alloys. Shape memory alloys are good candidates as smart actuators because of their high strain and power density, although the complex hysteresis behavior barricades their usage. Although constitutive models are one of the most potent methods to predict the shape memory alloys behavior, they cannot consider the effect of excitation frequency in active applications. In this paper, the Liang-Rogers model is modified to consider this effect using a linear relation between the excitation frequency and martensite transformation temperatures. A shape memory alloy-driven actuator as a morphing wing is employed to characterize the frequency effect on shape memory alloy hysteresis. Experimental results show that the hysteresis is widened when the excitation frequency increases. The modeling results show that the original model significantly fails to predict the correct behavior when the frequency increases, whereas the proposed model can adequately handle the frequency effect on the behavior of the shape memory alloy-driven actuator.

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Kitamura, Kazuhiro. "Shape Memory Properties of Ti-Ni Shape Memory Alloy / Shape Memory Polymer Composites Using Additive Manufacturing." Materials Science Forum 1016 (January 2021): 697–701. http://dx.doi.org/10.4028/www.scientific.net/msf.1016.697.

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Shape memory alloys (SMAs) have the disadvantage that cooling is difficult and the actuating speed during cooling is slow. To resolve this problem, shape memory material actuators that operate only with heating is required. SMAs are characterized by a low apparent Young's modulus below the transformation temperature and a strong shape recovery force above the reverse transformation temperature. Alternatively, shape memory polymers (SMPs) have two properties: shape fixability and shape recovery. The SMPs are hardened below the glass transition (Tg) temperature and the material is recovered to memorized shape above the Tg temperature. The other hand, 3D printer is a machine that can directly output a 3D-designed product designed by a computer in 3D, and molded materials such as polymer, resin, metal, and ceramics. In this research, we developed the SMC of SMA wire and SMP sheet using adhesive that develops actuates into two shapes only by heating.

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Zakerzadeh, Mohammad R., and Hassan Sayyaadi. "Experimental comparison of some phenomenological hysteresis models in characterizing hysteresis behavior of shape memory alloy actuators." Journal of Intelligent Material Systems and Structures 23, no. 12 (June 1, 2012): 1287–309. http://dx.doi.org/10.1177/1045389x12448444.

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Among the phenomenological hysteresis models, the Preisach model, Krasnosel’skii–Pokrovskii model, and Prandtl–Ishlinskii model have found extensive applications for modeling hysteresis in shape memory alloys and other smart actuators. Since the mathematical complexity of the identification and inversion problem depends directly on the type of phenomenological hysteresis modeling method, choosing a proper phenomenological model among the mentioned models for modeling the hysteretic behavior of shape memory alloy actuators is a task of crucial importance. Moreover, the accuracy of the hysteresis modeling method in characterizing shape memory alloy hysteretic behavior consequently affects the whole compensator design task. In this article, the accuracy of the mentioned phenomenological models in characterizing and predicting the hysteretic behavior of shape memory alloy actuators is experimentally compared. It will be shown that although, unlike the Preisach and Krasnosel’skii–Pokrovskii models, the identification process of the Prandtl–Ishlinskii model is a time-consuming process, it leads to the best results when the outputs of these models are compared with the experimental data. Since the Prandtl–Ishlinskii model is also analytically invertible and can be easily implemented as a feed-forward controller for compensating the hysteretic nonlinearity behavior of shape memory alloy actuators, it seems to be the best model for modeling and compensating the hysteretic behavior of shape memory alloy actuators.

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AbuZaiter, Alaa, Ee Leen Ng, Suhail Kazi, and Mohamed Sultan Mohamed Ali. "Development of Miniature Stewart Platform Using TiNiCu Shape-Memory-Alloy Actuators." Advances in Materials Science and Engineering 2015 (2015): 1–9. http://dx.doi.org/10.1155/2015/928139.

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A Stewart platform is a parallel manipulator robot that is able to perform three linear movements, lateral, longitudinal, and vertical, and three rotations, pitch, yaw, and roll. This paper reports a 30 mm × 30 mm × 34 mm miniscale Stewart platform using TiNiCu shape-memory-alloy (SMA) actuators. The proposed Stewart platform possesses various advantages, such as large actuation force and high robustness with a simple mechanical structure. This Stewart platform uses four SMA actuators and four bias springs and performs a linearz-axis movement and tilting motions. The SMA actuators are activated by passing a current through the SMA wires using a heating circuit that generates a pulse width modulation (PWM) signal. This signal is varied to control the level of the displacement and tilting angle of the platform. The tilting direction depends on the SMA actuator that is activated, while all four SMA actuators are activated to achieve the linearz-axis movement. Each SMA actuator exerts a maximum force of 0.6 N at PWM duty cycle of 100%. The fabricated miniature Stewart platform yields a full actuation of 12 mm in thez-axis at 55°C, with a maximum tilting angle of 30° in 4 s.

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Asua, Estibalitz, Jorge Feuchtwanger, Alfredo García-Arribas, Victor Etxebarria, and José M. Barandiarán. "Nano-Positioning with Ferromagnetic Shape Memory Alloy Actuators." Materials Science Forum 635 (December 2009): 201–5. http://dx.doi.org/10.4028/www.scientific.net/msf.635.201.

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Ferromagnetic shape memory alloy-based actuators offer distintive features that make them advantageous competitors to traditional electromechanical devices. The production of force and motion without contact is one of the most important features. However, the largely non-linear and hysteretic nature of the response of such materials makes them of little use apart from on-off or continuous actuation. In this work we present the results obtained in a laboratory prototype of linear position FSMA actuator, where the active element is a 12 mm long Ni-Mn-Ga single crystal. The crystal expands a maximum of 12 micrometers and in control experiments, is commanded to expand and contract alternatively to reach positions at 5 µm and 8 µm. It shows that the commanded position could be controlled within 20 nm.

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Liu, Rong, Ping He, and Chang Shui Feng. "Application of Shape Memory Alloy Actuators to Control the Displacement of an Adaptive Beam." Advanced Materials Research 415-417 (December 2011): 2196–201. http://dx.doi.org/10.4028/www.scientific.net/amr.415-417.2196.

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Shape memory alloy (SMA) wire actuators have broad application prospects in many fields. But due to the nonlinearity of inherent hysteresis of SMA, the precise position control system is difficult to be obtained to these kinds of actuators. Therefore, it is significant to research the control technology of SMA wire actuators to extend the application of SMA wire actuators. In the current paper, a shape memory alloy wire actuator is designed to control the displacement of an adaptive beam. The dynamic model of SMA wire actuator is derived based on Brinson’s model and two types of inputs are used to produce different displacements. Then, PID control strategy for the SMA actuators is established and implemented to active control the position. Also, real-time control (RTC) is applied to the SMA wire actuators, which can concurrently generate real-time codes and accelerate the process of simulation. Through the comparison of different amplitudes and frequencies of current inputs, the different control abilities and characteristics to acquire the maximal displacement can be approximately achieved. Significantly, the position can basically remain stable. The results demonstrate the SMA wire actuators can be used to stably control the displacement of the adaptive beam.

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Haigh, Casey D., John H. Crews, Shiquan Wang, and Gregory D. Buckner. "Multi-Objective Design Optimization of a Shape Memory Alloy Flexural Actuator." Actuators 8, no. 1 (February 16, 2019): 13. http://dx.doi.org/10.3390/act8010013.

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This paper presents a computational model and design optimization strategy for shape memory alloy (SMA) flexural actuators. These actuators consist of curved SMA wires embedded within elastic structures; one potential application is positioning microcatheters inside blood vessels during clinical treatments. Each SMA wire is shape-set to an initial curvature and inserted along the neutral axis of a straight elastic member (cast polydimethylsiloxane, PDMS). The elastic structure preloads the SMA, reducing the equilibrium curvature of the composite actuator. Temperature-induced phase transformations in the SMA are achieved via Joule heating, enabling strain recovery and increased bending (increased curvature) in the actuator. Actuator behavior is modeled using the homogenized energy framework, and the effects of two critical design parameters (initial SMA curvature and flexural rigidity of the elastic sleeve) on activation curvature are investigated. Finally, a multi-objective genetic algorithm is utilized to optimize actuator performance and generate a Pareto frontier, which is subsequently experimentally validated.

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Simone, Filomena, Gianluca Rizzello, and Stefan Seelecke. "A finite element framework for a shape memory alloy actuated finger." Journal of Intelligent Material Systems and Structures 30, no. 14 (July 5, 2019): 2052–64. http://dx.doi.org/10.1177/1045389x19861787.

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This article presents on finite element modeling of an artificial finger driven by shape memory alloy wires. These alloys appear as a promising transduction technology, due to their inherently high energy density which makes them a good choice for compact, lightweight, and silent actuator systems with many applications in the robotic field, ranging from industrial to biomedical ones. However, the complex nonlinear and hysteretic behavior of the material makes it difficult to accurately model and design shape memory alloy–actuated systems. The problem is even more challenging when shape memory alloys are used as actuators in articulated structures, adding complex kinematics and contact situations to the picture. In this article, a finite element model is developed to describe the behavior of a finger prototype, in which a bundle of shape memory alloy wires works against an extension spring. The commercially available software COMSOL is used for implementing the coupling and contact issues between the finger structure and the shape memory alloy wires. To describe the shape memory alloy material behavior, a COMSOL implementation of the Müller–Achenbach–Seelecke model is presented. By means of different experiments, it is demonstrated how the model predicts the prototype behavior in relation to different power stimuli and actuator geometries.

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Redmond, John A., Diann Brei, Jonathan Luntz, Alan L. Browne, and Nancy L. Johnson. "Spool-packaging of shape memory alloy actuators: Performance model and experimental validation." Journal of Intelligent Material Systems and Structures 23, no. 2 (January 2012): 201–19. http://dx.doi.org/10.1177/1045389x11431742.

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Shape memory alloy (SMA) actuators in the wire form are attractive because of their simplistic architecture and electrical operation, and their manufacturability at high yields and low cost. While SMA actuators are known for their superior work density among smart materials, packaging long lengths of SMA wire needed for moderate to large motions is an ongoing technical challenge. This article investigates spooling as a packaging approach to provide more compact actuator footprints. An analytical, quasi-static model is derived to provide a foundational tool for the analysis and synthesis of spool-packaged SMA wire actuators. The model predicts motion with respect to a generalized architecture, and specifiable geometric, material, and loading parameters. The model prediction accounts for the effects of local friction loss and bending strains, and for a “binding” limitation due to accumulated friction. An experimental validation study demonstrates the model’s ability to predict actuator motion well in terms of form and magnitude with respect to load and packaging geometry. This model provides a basis for a systematic application of spooled-packaging techniques to overcome packaging limitations of SMA, positioning SMA wire actuators as a viable alternative in many applications.

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Birman, Victor. "Review of Mechanics of Shape Memory Alloy Structures." Applied Mechanics Reviews 50, no. 11 (November 1, 1997): 629–45. http://dx.doi.org/10.1115/1.3101674.

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This article presents a review of constitutive theories, mechanics, and structural applications of shape memory alloys. Although these materials possess a number of unique features, this review is concerned with the shape memory effect and superelasticity, since they are most often discussed in the context of possible applications. The article begins with a discussion of these effects and a reference to a number of studies elucidating the properties of shape memory alloys. In the next section, a number of constitutive theories are listed and some recent theories are discussed in detail. The work related to numerous technological problems that arise in the process of manufacturing shape memory alloy structures is considered. Structural problems of shape memory structures, such as buckling, vibration, acoustic control, etc are discussed. The work related to development and design of shape memory sensors and actuators is also reviewed. Finally, some applications of shape memory alloy actuators, particularly those in the aerospace and medical fields, are considered. This review article contains 195 references.

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Kang, Minchae, Ye-Ji Han, and Min-Woo Han. "A Shape Memory Alloy-Based Soft Actuator Mimicking an Elephant’s Trunk." Polymers 15, no. 5 (February 23, 2023): 1126. http://dx.doi.org/10.3390/polym15051126.

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Soft actuators that execute diverse motions have recently been proposed to improve the usability of soft robots. Nature-inspired actuators, in particular, are emerging as a means of accomplishing efficient motions based on the flexibility of natural creatures. In this research, we present an actuator capable of executing multi-degree-of-freedom motions that mimics the movement of an elephant’s trunk. Shape memory alloys (SMAs) that actively react to external stimuli were integrated into actuators constructed of soft polymers to imitate the flexible body and muscles of an elephant’s trunk. The amount of electrical current provided to each SMA was adjusted for each channel to achieve the curving motion of the elephant’s trunk, and the deformation characteristics were observed by varying the quantity of current supplied to each SMA. It was feasible to stably lift and lower a cup filled with water by using the operation of wrapping and lifting objects, as well as effectively performing the lifting task of surrounding household items of varying weights and forms. The designed actuator is a soft gripper that incorporates a flexible polymer and an SMA to imitate the flexible and efficient gripping action of an elephant trunk, and its fundamental technology is expected to be used as a safety-enhancing gripper that requires environmental adaptation.

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Copaci, Dorin-Sabin, Dolores Blanco, Alejandro Martin-Clemente, and Luis Moreno. "Flexible shape memory alloy actuators for soft robotics: Modelling and control." International Journal of Advanced Robotic Systems 17, no. 1 (January 1, 2020): 172988141988674. http://dx.doi.org/10.1177/1729881419886747.

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One of the limitations in the development of really soft robotic devices is the development of soft actuators. In recent years, our research group has developed a new flexible shape memory alloy actuator that provides more freedom of movements and a better integration in wearable robots, especially in soft wearable robots. Shape memory alloy wires present characteristics such as force/weight ratio, low weight, and noiseless actuation, which make them an ideal choice in these types of applications. However, the control strategy must take into account its complex dynamics due to thermal phase transformation. Different control approaches based on complex non-linear models and other model-free control methods have been tested on real systems. Some exoskeleton prototypes have been developed, which demonstrate the utility of this actuator and the advantages offered by these flexible actuators to improve the comfort and adaptability of exoskeletons.

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Kai-Hung, Liang, Kao Kuo-Han, and Tien Szu-Chi. "Precision Positioning with Shape-Memory-Alloy Actuators." International Journal of Automation and Smart Technology 3, no. 4 (December 1, 2013): 265–71. http://dx.doi.org/10.5875/ausmt.v3i4.209.

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Potapov, Pavel L., and Edson P. Da Silva. "Time Response of Shape Memory Alloy Actuators." Journal of Intelligent Materials Systems and Structures 11, no. 2 (February 1, 2000): 125–34. http://dx.doi.org/10.1177/104538900772664323.

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Potapov, Pavel L., and Edson P. Da Silva. "Time Response of Shape Memory Alloy Actuators." Journal of Intelligent Material Systems and Structures 11, no. 2 (February 2000): 125–34. http://dx.doi.org/10.1106/xh1h-fh3q-1yex-4h3f.

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Dickinson, Carrie A., and John T. Wen. "Feedback Control Using Shape Memory Alloy Actuators." Journal of Intelligent Material Systems and Structures 9, no. 4 (April 1998): 242–50. http://dx.doi.org/10.1177/1045389x9800900402.

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Thrasher, M. A., A. R. Shahin, P. H. Meckl, and J. D. Jones. "Efficiency analysis of shape memory alloy actuators." Smart Materials and Structures 3, no. 2 (June 1, 1994): 226–34. http://dx.doi.org/10.1088/0964-1726/3/2/019.

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Garces-Schroder, Mayra, Tom Zimmermann, Carsten Siemers, Monika Leester-Schadel, Markus Bol, and Andreas Dietzel. "Shape Memory Alloy Actuators for Silicon Microgrippers." Journal of Microelectromechanical Systems 28, no. 5 (October 2019): 869–81. http://dx.doi.org/10.1109/jmems.2019.2936288.

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Liang, Yuanchang, and Minoru Taya. "ChemInform Abstract: Ferromagnetic Shape Memory Alloy Actuators." ChemInform 41, no. 37 (August 19, 2010): no. http://dx.doi.org/10.1002/chin.201037225.

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Jia, J., and C. A. Rogers. "Formulation of a Mechanical Model for Composites With Embedded SMA Actuators." Journal of Mechanical Design 114, no. 4 (December 1, 1992): 670–76. http://dx.doi.org/10.1115/1.2917059.

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Shape memory alloy reinforced composites are an extremely versatile class of materials with adaptive characteristics that may be exploited for damage control, active structural acoustic control, dynamic tuning, and shape control. In order to design structures reliably with embedded shape memory alloy actuators, a fundamental mechanical model must be formulated to predict the materials’ variable stiffness, induced moments and loads, and the change of curvature that can result. The mechanical model described in this paper is formulated from the micromechanical behavior of the highly nonlinear shape memory alloy actuators and classical lamination theory. The behavior of typical shape memory alloys will be presented and then used in formulating a one- and two-dimensional model and the results will be applied to plate theory.

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Fischer, Nikola, Johannes Knapp, and Franziska Mathis-Ullrich. "Shape-sensing by self-sensing of shape memory alloy instruments for minimal invasive surgery." at - Automatisierungstechnik 71, no. 7 (July 1, 2023): 554–61. http://dx.doi.org/10.1515/auto-2023-0058.

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Abstract Shape memory alloy-based flexible instruments have potential for enhancing the safety in minimally invasive surgery compared to passive rigid devices. We developed a data-driven polynomial model to estimate deflection of a 2D bending actuator using electrical resistance. The model accurately predicts deflections (mean error <3.6 mm), but force sensing augmentation is required for unknown load cases. The model is specific to the tested actuator geometry, and future research should investigate multiple actuators and explore nonlinear modeling approaches.

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Yang, K., and C. L. Gu. "Research and application of novel planar bending embedded shape memory alloy actuator." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 221, no. 2 (February 1, 2007): 249–57. http://dx.doi.org/10.1243/0954406jmes453.

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To overcome low-response speed and low-control precision in the existing traditional shape memory alloy (SMA) actuators, a new type of structure named planar bending embedded SMA actuator was developed. Two SMA wires were embedded in parallel with the axis of the elastic rod. The recovering wire, which was superposed along rod's axis, was set to obtain ‘U’ memory shape and the restoring wire, which was placed off-axially, got straight memory shape. The differential stain gauges were located at suitable position in corresponding to the actuator's bending direction in order to measure the signal of displacement. By making use of continuity, common origin and common limit conditions, and adjusting martensite fraction coefficients appropriately, the analytical model was deduced to adequately account for the presence of major and minor hysteresis loops. The structural parameters of 60 mm long actuator, such as rod's radius, wire's radius, wire's recoverable curvature, and offset distance, were optimized by combining analytical model with experimental results. The experimental results prove the merits in optimal prototype.

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Yang, K., and C. L. Gu. "A compact and flexible actuator based on shape memory alloy springs." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 222, no. 7 (July 1, 2008): 1329–37. http://dx.doi.org/10.1243/09544062jmes981.

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A new structure of compact flexible actuator based on shape memory alloy (SMA) springs is presented. Three SMA springs, which are trained to shrink as the phase transition occurs, are embedded off-axially and movably in a silicone rubber rod solidified at room temperature. The spatial bending, which is accomplished through heating SMA springs by suitable current, could restore flexibly as soon as heating is stopped. Thus, the compact, flexible, integrative actuator is built. Being possessed of the merits such as high load—weight ratio, low energy dissipation, and direct driving, the actuators can implement simple drive, precise operation, and flexible movement. On the basis of the analysis of an elastic rod with distributed and concentrated loads, the design of the rod and SMA springs is investigated. Subsequently, the manufacture of the prototype is carried out and the control system is implemented. Finally, the experiments are carried out to validate the virtues of the actuators.

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Yoshida, Eiichi, Satoshi Murata, Shigeru Kokaji, Kohji Tomita, and Haruhisa Kurokawa. "Micro Self-reconfigurable Modular Robot Using Shape Memory Alloy." Journal of Robotics and Mechatronics 13, no. 2 (April 20, 2001): 212–19. http://dx.doi.org/10.20965/jrm.2001.p0212.

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This paper presents a micro self-reconfigurable modular robotic system using shape memory alloy (SMA) actuators. Composed of identical robotic modules, the system can actively configure various structures. The motion of module is based on 2-dimensional rotation using an actuator mechanism with 2 SMA torsion coil springs. The micro-module measures 2cm cube and weighs 15g, half the size of the previous model. The feasibility of reconfiguration was demonstrated using micro-robotic modules. We also show an extended 3-dimensional (3D) model and discuss a distributed self-reconfiguration algorithm for large modular structures.

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Pan, Chi Hsiang, and Ying Bin Wang. "Development of a Novel Micro-Actuator Driven by Shape Memory Alloy." Solid State Phenomena 164 (June 2010): 9–14. http://dx.doi.org/10.4028/www.scientific.net/ssp.164.9.

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This paper presents a novel microactuator driven by shape memory alloy (SMA). First, the helical spring-shaped SMA is fabricated from SMA wire (Ti50%-Ni45%-Cu5%) with one way shape memory effect and 0.6 mm in diameter. Subsequently, a compliant tube-type microactuator driven by helical spring-shaped SMA is developed. The performances of the helical spring-shaped SMA and the compliant tube-type microactuator, such as the response time, the recovery force and the surface temperature in terms of the driving currents, are investigated. The driving circuit system comprising a pulse width modulation (PWM) control circuit is used to drive the actuator. Experiments demonstrate that control of the SMA actuator using PWM effectively reduces the energy consumption and ensures a short cooling time to guarantee a high response time in actuating cycles. Finite element software (COSMOSWorks) is applied for the analysis of the compliant tube-type actuator, which aim is to demonstrate the agreement between the theoretical analysis and experiment as well as to improve the performance of the actuators.

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Schiedeck, Florian, Tobias Hemsel, and Jörg Wallaschek. "The Use of Shape Memory Alloy Wires in Actuators." Solid State Phenomena 113 (June 2006): 195–98. http://dx.doi.org/10.4028/www.scientific.net/ssp.113.195.

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Our contribution will describe the basic fundamentals of shape memory alloys. Emphasis will be given to specific characteristics for the use of shape memory wires in actuators. The investigation of shape memory wires in actuators includes qualitative and quantitative benchmarking based on measurements at different test beds. To display applicability of shape memory wires for different tasks, the main focus will be on the influence of different bias forces, the determination of performance, and the possibility of position control without position sensors.

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Seelecke, Stefan, and Ingo Mu¨ller. "Shape memory alloy actuators in smart structures: Modeling and simulation." Applied Mechanics Reviews 57, no. 1 (January 1, 2004): 23–46. http://dx.doi.org/10.1115/1.1584064.

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This review article gives an overview of the new and quickly developing field of shape memory alloy (SMA) actuators in smart structures. The focus is on the aspects of modeling and simulation of such structures, a task that goes beyond classical modeling approaches as it has to combine constitutive modeling with structural and control aspects in a highly interdisciplinary way. We review developments in each of these fields, trying to combine them into a smooth picture of how to treat the problem efficiently. After a discussion of modeling aspects with particular regard to actuator applications, the simulation of standard feedback control methods is demonstrated. Subsequently, model based methods from optimal control theory are presented, accounting for the strongly nonlinear and hysteretic material behavior of SMAs. Real-time optimal control methods are introduced and, finally, aspects of finite element implementation of an SMA actuator model are discussed and illustrated by the simulation of an adaptive aircraft wing. This review article cites 155 references.

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Jani, Jaronie Mohd, Martin Leary, and Aleksandar Subic. "Shape Memory Alloys in Automotive Applications." Applied Mechanics and Materials 663 (October 2014): 248–53. http://dx.doi.org/10.4028/www.scientific.net/amm.663.248.

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Shape memory alloy (SMA) actuators have drawn much attention and interest due to their unique and superior properties, and are expected to be equipped in many modern vehicles at competitive market prices. The key advantage is that SMA actuators do not require bulky and complicated mechanical design to function, where the active element (e.g. SMA wire or spring) can be deformed by applying minimal external force and will retain to their previous form when subjected to certain stimuli such as thermomechanical or magnetic changes. This paper describes the SMA attributes that make them ideally suited as actuators in automotive applications and to address their limitations, feasibilities and prospects.

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Jähne, R., and L. F. Campanile. "Shape-memory coaxial bimorphs." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 223, no. 11 (August 25, 2009): 2713–16. http://dx.doi.org/10.1243/09544062jmes1779.

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The thermal shape recovery shown by shape memory alloys is a property that makes these materials very attractive for applications in the field of smart structures, e.g. bending actuators. This article shows a design method for coaxial bimorphs that are composed of a linear-elastic and shape memory alloy component, properly coupled. A simple and effective method is proposed to solve for the component designs in order to achieve given bimorph configurations. Analytical examples and finite-element simulations are shown for the case of assigned bimorph's warm shape.

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Journal articles on the topic 'Shape Memory Alloy Actuators'

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