A modular torsional actuator using shape memory alloy wires

Shin, Bu Hyun; Jang, Taesoo; Ryu, Bong-Jo; Kim, Youngshik

doi:10.1177/1045389x15600084

Cited by 16 publications

(8 citation statements)

References 18 publications

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“…Focusing on controlling methods for BRM application, different methods can be found in the literature. For example, the PI/PID controller have been frequently implemented and have been proven capable for the accurate control of SMA-wire-based actuators [ (Moallem and Tabrizi, 2008;Ruth et al, 2015;Guo et al, 2013Guo et al, , 2015Georges et al, 2013;Doroudchi et al, 2018), for normal-strain-driven application (Sheng and Desai, 2015;Sheng et al, 2017), for torsional spring (Shin et al, 2016;Kim Y. et al, 2019), for bending wire]. The controlling performance are presented in the Section 4.…”

Section: Sensing and Controlling Methodsmentioning

confidence: 99%

“…Consequently, additional machining processes such as laser cutting and SMAs layer's preannealing are necessary (Paik et al, 2010;Zhakypov et al, 2016). 2) bending wire or cantilever: single or group of linear and arc-shaped SMA wires that are arranged to provide bending motion (Shin et al, 2016).…”

Section: Shape Memory Alloys-based Actuators For Rotational Motionmentioning

confidence: 99%

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A Review of SMA-Based Actuators for Bidirectional Rotational Motion: Application to Origami Robots

Rabenorosoa

Ouisse

2021

Front. Robot. AI

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Shape memory alloys (SMAs) are a group of metallic alloys capable of sustaining large inelastic strains that can be recovered when subjected to a specific process between two distinct phases. Regarding their unique and outstanding properties, SMAs have drawn considerable attention in various domains and recently became appropriate candidates for origami robots, that require bi-directional rotational motion actuation with limited operational space. However, longitudinal motion-driven actuators are frequently investigated and commonly mentioned, whereas studies in SMA-based rotational motion actuation is still very limited in the literature. This work provides a review of different research efforts related to SMA-based actuators for bi-directional rotational motion (BRM), thus provides a survey and classification of current approaches and design tools that can be applied to origami robots in order to achieve shape-changing. For this purpose, analytical tools for description of actuator behaviour are presented, followed by characterisation and performance prediction. Afterward, the actuators’ design methods, sensing, and controlling strategies are discussed. Finally, open challenges are discussed.

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Section: Sensing and Controlling Methodsmentioning

confidence: 99%

Section: Shape Memory Alloys-based Actuators For Rotational Motionmentioning

confidence: 99%

A Review of SMA-Based Actuators for Bidirectional Rotational Motion: Application to Origami Robots

Rabenorosoa

Ouisse

2021

Front. Robot. AI

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“…Paik et al [46,47] presented a preliminary research on a low-profile bidirectional folding actuator based on annealed thin NiTi sheets (thickness of 0.1 mm), for meso-and micro-scale robotic applications. A torsional actuator composed of an SMA wire, with a diameter of 0.25 mm in the array form, and two supporting elements, was developed to provide large rotational motion by connecting single actuator modules in series [48]. A new soft SMA actuator was developed, capable of fast bending actuation with large deformations.…”

Section: Sma-based Robotsmentioning

confidence: 99%

A State-of-the-Art Review on Robots and Medical Devices Using Smart Fluids and Shape Memory Alloys

2018

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Over the last two decades, smart materials have received significant attention over a broad range of engineering applications because of their unique and inherent characteristics for actuating and sensing aspects. In this review article, recent research works on various robots, medical devices and rehabilitation mechanisms whose main functions are activated by smart materials are introduced and discussed. Among many smart materials, electro-rheological fluids, magneto-rheological fluids, and shape memory alloys are considered since there are mostly appropriate application candidates for the robot and medical devices. Many different types of robots proposed to date, such as parallel planar robots, are investigated focusing on design configuration and operating principles. In addition, specific mechanism and operating principles of medical devices and rehabilitation systems are introduced and commented in terms of practical realization.

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“…A number of SMA constitutive models has been proposed in the literature, see Lagoudas (2008) and Paiva and Savi (2006) for a survey. The number of internal parameters and the incorporation of probabilistic methods in some, although descriptive of the underlying mechanisms, may prove to be complex compared to the two-state (martensite/austenite) approach followed in the design of robotics applications, like Zhang et al (2015), Shin et al (2016), Lai et al (2013), and An et al (2012). Such models can be difficult to implement for simple mechanisms due to the number of employed parameters or to difficulties to tune them outside laboratory conditions.…”

Section: Introductionmentioning

confidence: 99%

“…Different spatial relationships between antagonistic components are used to produce unidirectional (linear) actuation, bending of elastic surfaces or heat-engines. Seok et al (2013) use coil actuators wrapped in a spiral pattern around the circumference of a flexible tube to produce peristaltic locomotion on a biomimetic soft robot, whereas Shin et al (2016) investigate modular configurations of torsional actuators to produce rotational locomotion for soft robots.…”

Section: Introductionmentioning

confidence: 99%

Model based design of antagonistic shape memory alloy spring devices

Kolyvas

Tzes

2018

Journal of Intelligent Material Systems and Structures

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Shape memory alloy actuated devices employing a network of antagonistic components can reach an equilibrium of the internal forces by multiple sets of individual force magnitudes. In networks of star topologies particularly, the actuators are placed radially with one end connected at a common node. The ability to produce multiple sets of force equilibria suggests then that similar motions of the common node correspond to different thermomechanical paths. Two factors linked to this behavior are examined in this work, namely the initial design of the antagonistic system and the operational profile used during actuation. A shape memory alloy model is initially constructed based on an elementary hysteresis operator to produce a direct representation of the shape memory alloy behavior in the force–deformation plane. This description enables the identification of the operating point for the actuator by the geometric relationship of these models. In the second part, the placement of the antagonists is guided by the model based on specifications on the range of the workspace and the internal forces. The antagonistic operation is finally compared, in terms of time, work produced, and energy consumption, for a bang-bang (minimum time controller for the actuator) and a bang-off-bang (minimum internal forces for the system) actuation scheme.

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A modular torsional actuator using shape memory alloy wires

Cited by 16 publications

References 18 publications

A Review of SMA-Based Actuators for Bidirectional Rotational Motion: Application to Origami Robots

A Review of SMA-Based Actuators for Bidirectional Rotational Motion: Application to Origami Robots

A State-of-the-Art Review on Robots and Medical Devices Using Smart Fluids and Shape Memory Alloys

Model based design of antagonistic shape memory alloy spring devices

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