Application of trained NiTi SMA actuators in a spatial compliant mechanism: Experimental investigations

Muthuswamy, Sreekumar; Nagarajan, T.; Singaperumal, M.

doi:10.1016/j.matdes.2008.12.017

Cited by 27 publications

(12 citation statements)

References 21 publications

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“…The possibility of embedding SMAs into a host medium mainly regards the development of systems in which the shape, elastic moduli, internal stress level and natural frequency of vibration can be optimized to the specific application. To this regard, many authors [5][6][7][8] have demonstrated that SMA wires, which have been thermo-mechanically trained, could work as a linear actuator by contracting on heating and recovering their original shape on cooling, providing the shape changing. Moreover, under constrained conditions, the SMA elements work against the elastic stiffness of the host matrix, biasing their strain recovery.…”

Section: Literature Surveymentioning

confidence: 99%

Morphing blades with embedded SMA strips: An experimental investigation

et al. 2015

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Section: Literature Surveymentioning

confidence: 99%

Morphing blades with embedded SMA strips: An experimental investigation

et al. 2015

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“…Actuators based on antagonistic systems with more than two components allowing several degrees of freedom (DOFs) are still rare in the literature. They may integrate three SMA elements [42,43], four [44], or six [43,45]. We will call them "multi-"antagonistic systems.…”

Section: Introductionmentioning

confidence: 99%

“…The hysteretic effects that are specific to this type of multi-antagonistic SMA actuation have not 4 been studied in the literature from a SMA material model, to the best of the authors' knowledge. The interest in using multi-antagonistic SMA systems was demonstrated for instance in Refs [42][43][44][45][46]. However, no SMA material model has been employed to analyze complex hysteretic effects in the case of more than two SMA components.…”

Section: Introductionmentioning

confidence: 99%

Finite element analysis of a prestressed mechanism with multi-antagonistic and hysteretic SMA actuation

Boufayed¹,

Chapelle²,

Destrebecq³

et al. 2020

Meccanica

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This paper deals with the specific hysteretic effects of a multi-antagonistic shapememory alloy (SMA) actuation system in which each wire can be thermally activated individually (one or more at a time). A planar system with six SMA wires organized in a ternary rotational symmetry is studied numerically, via finite element calculation software. The objective is to analyze the functional characteristics of such mechanism, whose response during a thermal activation sequence is multi-antagonistic and hysteretic. Important points are highlighted, such as the avoidance of buckling and plasticity, the possibility of locking a configuration without energy input, and the "attraction" effect of any heating step on the following steps. The feasibility of reaching a given target in the workspace is also illustrated. Finally, the analysis shows the necessity to consider these multi-antagonistic and hysteretic aspects of the actuation in the future design and control of such type of mechanisms. The latter could be of interest as hollow shaft rotary actuators with additional (small) translation degrees of freedom in applications requiring long-term and stable positioning at ambient temperature.

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“…Nowadays SMA wires are being used in a wide range of applications, from art-craft designs [1], to medical implements like intra-arterial supports [2] or dental applications [3], construction vibrations damper [4], micro-robotics [5,6], specific purpose actuators as camera lense focus actuator [7], car mirror actuators [8] or SMA based motors [9], general purpose actuators [10][11][12][13][14][15] and robotic manipulators as arms, hands or robotic fingers [16][17][18]. Most of the mentioned applications are microscale or required complicated mechanical systems to be implemented.…”

Section: Introductionmentioning

confidence: 99%

Operational Space Control of a Lightweight Robotic Arm Actuated by Shape Memory Alloy (SMA) Wires

Quintanar-Guzman¹,

Kannan²,

Olivares-Méndez³

et al. 2016

Volume 2: Modeling, Simulation and Control; Bio-Inspired Smart Materials and Systems; Energy Harvesting

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This paper presents the design and control of a two link lightweight robotic arm using a couple of antagonistic Shape Memory Alloy (SMA) wires as actuators. A nonlinear robust control law for accurate positioning of the end effector of the twolink SMA based robotic arm is developed to handle the hysteresis behavior present in the system. The model presented consists of two subsystems: firstly the SMA wires model and secondly the dynamics of the robotic arm itself. The control objective is to position the robotic arm's end effector in a given operational plane position. For this regulation problem a sliding mode control law is applied to the hysteretic system. Finally a Lyapunov analysis is applied to the closed-loop system demonstrating the stability of the system under given conditions. The simulation results demonstrate the accurate and fast response of the control law for position regulation. In addition, the stability of the closed-loop system can be corroborated.

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Application of trained NiTi SMA actuators in a spatial compliant mechanism: Experimental investigations

Cited by 27 publications

References 21 publications

Morphing blades with embedded SMA strips: An experimental investigation

Morphing blades with embedded SMA strips: An experimental investigation

Finite element analysis of a prestressed mechanism with multi-antagonistic and hysteretic SMA actuation

Operational Space Control of a Lightweight Robotic Arm Actuated by Shape Memory Alloy (SMA) Wires

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