A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures

Mandolino, Michele A.; Ferrante, Francesco; Rizzello, Gianluca

doi:10.1109/lra.2021.3067254

Cited by 8 publications

(5 citation statements)

References 28 publications

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“…A potential way to improve the physical model implementation consists of eliminating the stiff dynamics of phase transformations, and substitute it with instantaneous hybrid transitions. This approach is similar to what already exploited in a previous work on single-crystal SMA model (Mandolino et al (2021)), which will now be generalized to more challenging polycrystalline SMAs. The adopted hybrid framework for the SMA model implementation is based on the hybrid theory of Goebel et al (2012).…”

Section: Hybrid Dynamical Modelmentioning

confidence: 80%

Hybrid Dynamical Modeling of Polycrystalline Shape Memory Alloy Wire Transducers

Mandolino¹,

Ferrante²

2022

MATHMOD 2022 Discussion Contribution Volume

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Section: Hybrid Dynamical Modelmentioning

confidence: 80%

Hybrid Dynamical Modeling of Polycrystalline Shape Memory Alloy Wire Transducers

Mandolino¹,

Ferrante²

2022

MATHMOD 2022 Discussion Contribution Volume

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“…At the same time, the hybrid framework allows to describe additional effects which are hard to take into account in a conventional modeling setting, i.e., the wire slack occurring upon loss of mechanical tension and intrinsic twoway effect. This approach is inspired by our previous work in [30], where we developed a hybrid model for idealized single-crystal SMA hysteresis as in Fig. 1(a).…”

Section: Introductionmentioning

confidence: 99%

“…1(a). Here, the method from [30] is generalized for the first time to polycrystalline SMA exhibiting a smooth hysteresis and minor loops, as in Fig. 1(b).…”

Section: Introductionmentioning

confidence: 99%

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A Physics-Based Hybrid Dynamical Model of Hysteresis in Polycrystalline Shape Memory Alloy Wire Transducers

Mandolino

Scholtes

Ferrante

et al. 2023

IEEE/ASME Trans. Mechatron.

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Shape Memory Alloys (SMAs) are a class of smart materials that exhibit a macroscopic contraction of up to 5% when heated via an electric current. This effect can be exploited for the development of novel unconventional actuators. Despite having many features such as compactness, lightweight, and high energy density, commercial SMA wires are characterized by a highly nonlinear behavior, which manifests itself as a load-, temperature-, and rate-dependent hysteresis exhibiting a complex shape and minor loops. Accurate modeling and compensation of such hysteresis are fundamental for the development of highperformance SMA applications. In this work, we propose a new dynamical model to describe the complex hysteresis of polycrystalline SMA wires. The approach is based on a reformulation of the M üller-Achenbach-Seelecke model for uniaxial SMA wires within a hybrid dynamical framework. In this way, we can significantly reduce the numerical complexity and computation time without losing accuracy and physical interpretability. After describing the model, an extensive experimental validation campaign is carried out on a 75 µm diameter SMA wire specimen. The new hybrid model will pave the development of hybrid controllers and observers for SMA actuators.

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“…Their thermo-mechanical behavior is highly hysteretic which can for example be observed in stress-strain and temperaturestrain plots of the material [5]. Precisely predicting the stress and temperature dependent material behavior of SMA actuators with models and simulation tools, is a current object of research [6], [7]. Some research has been conducted in developing SMA microgripper systems, large stroke systems as well as energy efficient gripping solutions [8]- [10].…”

Section: Motivation and Introductionmentioning

confidence: 99%

Design of a lightweight SMA driven parallel gripper for collaborative robots

Scholtes¹,

Seelecke

Motzki

2023

Active and Passive Smart Structures and Integrated Systems XVII

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For a given use case of a collaborative assembly station, a gripper is needed that can handle workpieces with varying geometries. Existing electric robotic grippers are heavy and expensive, while pneumatic alternatives are noisy, inefficient and need stiff tubes and additional valves. A gripper driven by shape memory alloys (SMA) is by design silent and lightweight, purely electric, can be controlled in an energy efficient way and is predestined for collaborative applications due to the soft actuator behavior. The challenges of the development of such a system are given by the requirements for the use case at hand. They are jaw opening stroke and high forces combined with a short cycle time. In this paper the design process of a normally closed parallel gripper prototype driven by SMA wires featuring 14 N maximum gripping force and 30 mm opening stroke is discussed. Thin NiTi wires with a diameter of 76 μm are used to ensure a fast cooling. With this measure a cycle time of 1 second and below can be reached. A two-stage telescopic mechanism having overall 96 wires in parallel drives the gripper jaws by means of a lever mechanics. The power consumption is around 48 W and the gripper is designed to work with the electrical industry low voltage standard of 24 V and 2 A.

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A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures

Cited by 8 publications

References 28 publications

Hybrid Dynamical Modeling of Polycrystalline Shape Memory Alloy Wire Transducers

Hybrid Dynamical Modeling of Polycrystalline Shape Memory Alloy Wire Transducers

A Physics-Based Hybrid Dynamical Model of Hysteresis in Polycrystalline Shape Memory Alloy Wire Transducers

Design of a lightweight SMA driven parallel gripper for collaborative robots

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