A Computational Design Method for a Shape Memory Alloy Wire Actuated Compliant Finger

2009 ◽  
Vol 131 (2) ◽  
Author(s):  
Chao-Chieh Lan ◽  
You-Nien Yang
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Design Method ◽  
Three Dimensional ◽  
Computational Design ◽  
Computational Method ◽  
Output Force ◽  
Robotic Manipulations ◽  
Experimental Validations ◽  
High Work

This paper presents a computational method to design a compliant finger for robotic manipulations. As traditional mechanical fingers require bulky electromagnetic motors and numerous relative moving parts to achieve dexterous motion, we propose a class of fingers; the manipulation of which relies on finger deflections. These compliant fingers are actuated by shape memory alloy (SMA) wires that exhibit high work-density, frictionless, and quiet operations. The combination of compliant members with embedded SMA wires makes the finger more compact and lightweight. Various SMA wire layouts are investigated to reduce their response time while maintaining sufficient output force. The mathematical models of finger deflection caused by SMA contraction are then derived along with experimental validations. As finger shapes are essential to the range of deflected motion and output force, we find its optimal initial shapes through the use of a shape parametrization technique. We further illustrate our method by designing a humanoid finger that is capable of three-dimensional manipulation. Since compliant fingers can be fabricated monolithically, we expect the proposed design method to be utilized for applications of various scales.

An Analytical Design Method for a Shape Memory Alloy Wire Actuated Compliant Finger

2008 ◽  
Author(s):  
Chao-Chieh Lan ◽  
You-Nien Yang
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Design Method ◽  
Three Dimensional ◽  
Output Force ◽  
Shape Parameterization ◽  
Robotic Manipulations ◽  
Experimental Validations ◽  
Electro Magnetic ◽  
High Work

This paper presents an analytical method to design a mechanical finger for robotic manipulations. As traditional mechanical fingers require bulky electro-magnetic motors and numerous relative-moving parts to achieve dexterous motion, we propose a class of fingers the manipulation of which relies on finger deflections. These compliant fingers are actuated by shape memory alloy (SMA) wires that exhibit high work-density, frictionless, and quite operations. The combination of compliant members with embedded SMA wires makes the finger more compact and lightweight. Various SMA wire layouts are investigated to improve their response time while maintaining sufficient output force. The mathematical models of finger deflection caused by SMA contraction are then derived along with experimental validations. As finger shapes are essential to the range of deflected motion and output force, we find its optimal initial shapes through the use of a shape parameterization technique. We further illustrate our method by designing a humanoid finger that is capable of three-dimensional manipulation. As compliant fingers can be fabricated monolithically, we expect the proposed method to be utilized for applications of various scales.

Computational Design of a Reconfigurable Origami Space Structure Incorporating Shape Memory Alloy Thin Films

2012 ◽  
Author(s):  
Darren Hartl ◽  
Kathryn Lane ◽  
Richard Malak
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Three Dimensional ◽  
Computational Design ◽  
Passive Layer ◽  
Space Structure ◽  
Material System ◽  
Transient Effects ◽  
Element Analysis ◽  
Shell Elements

The subject of origami design is garnering increased attention from the science, mathematics, and engineering communities. However, relatively little research exists on understanding the behavioral aspects of the material system undergoing the folding operations. This work considers the design and analysis of a novel concept for a self-folding structure. It consists of an active, self-morphing laminate that includes thermally actuated shape memory alloy (SMA) layers and a compliant passive layer. Multiple layers allow folds in both the positive and negative directions relative to the laminate normal. The layers are configured to allow continuously variable folding operations based only on which regions are heated. For the purposes of demonstration, an example problem is considered whereby a thin structure is designed that can be stored in a flat sheet configuration and then morph using sets of folds toward two distinct shapes. We examine the effects of fold width, layer thicknesses, and activation power history on the geometric configurations that can be obtained. The design efforts are supported by a comprehensive and accurate three-dimensional constitutive model for SMAs implemented into a finite element analysis (FEA) framework. Shell elements and laminate theory are used to increase the computational efficiency of the analysis. Discussion of the complex effects of active folding in an SMA laminate sheet with in-plane homogeneity, including transient effects, are discussed.

scholarly journals A Computational Design Method for Tucking Axisymmetric Origami Consisting of Triangular Facets

Symmetry ◽  
2018 ◽  
Vol 10 (10) ◽  
pp. 469
Author(s):  
Yan Zhao ◽  
Yuki Endo ◽  
Yoshihiro Kanamori ◽  
Jun Mitani
Keyword(s):  
Design Method ◽  
Three Dimensional ◽  
Computational Design ◽  
Interior Vertex ◽  
Computational Method ◽  
The Other ◽  
Load Bearing ◽  
3D Space ◽  
A Value ◽  
Flat Sheet

Three-dimensional (3D) origami, which can generate a structure through folding a crease pattern on a flat sheet of paper, has received considerable attention in art, mathematics, and engineering. With consideration of symmetry, the user can efficiently generate a rational crease pattern and make the fabricated shape stable. In this paper, we focus on a category of axisymmetric origami consisting of triangular facets and edit the origami in 3D space for expanding its variations. However, it is difficult to retain the developability, which requires the sum of the angles around each interior vertex needing to equal 360 degrees, for designing origami. Intersections occur between crease lines when such a value is larger than 360 degrees. On the other hand, blank spaces (unfolded areas) emerge in the crease pattern when the value is less than 360 degrees. The former case is difficult to generate a realizable shape due to the crease lines are intersected with each other. For the latter case, however, blank spaces can be filled with crease lines and become a part of the origami through tucking. Here, we propose a computational method to add flaps or tucks on the 3D shape, which contains non-developable interior vertices, for achieving the resulting origami. Finally, on the application side, we describe a load-bearing experiment on a stool shape-like origami to demonstrate the potential usage.

Design and Optimization of a Shape Memory Alloy-Based Self-Folding Sheet

2013 ◽  
Vol 135 (11) ◽  
Author(s):  
Edwin Peraza-Hernandez ◽  
Darren Hartl ◽  
Edgar Galvan ◽  
Richard Malak
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Three Dimensional ◽  
Building Blocks ◽  
Passive Layer ◽  
Von Mises Stress ◽  
Maximum Temperature ◽  
Radius Of Curvature ◽  
Folding Angle ◽  
The Impact

Origami engineering—the practice of creating useful three-dimensional structures through folding and fold-like operations on two-dimensional building-blocks—has the potential to impact several areas of design and manufacturing. In this article, we study a new concept for a self-folding system. It consists of an active, self-morphing laminate that includes two meshes of thermally-actuated shape memory alloy (SMA) wire separated by a compliant passive layer. The goal of this article is to analyze the folding behavior and examine key engineering tradeoffs associated with the proposed system. We consider the impact of several design variables including mesh wire thickness, mesh wire spacing, thickness of the insulating elastomer layer, and heating power. Response parameters of interest include effective folding angle, maximum von Mises stress in the SMA, maximum temperature in the SMA, maximum temperature in the elastomer, and radius of curvature at the fold line. We identify an optimized physical realization for maximizing folding capability under mechanical and thermal failure constraints. Furthermore, we conclude that the proposed self-folding system is capable of achieving folds of significant magnitude (as measured by the effective folding angle) as required to create useful 3D structures.

Design of Shape Memory Alloy Springs With Applications in Vibration Control

1993 ◽  
Vol 115 (1) ◽  
pp. 129-135 ◽  
Author(s):  
C. Liang ◽  
C. A. Rogers
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory Alloys ◽  
Shape Memory ◽  
Vibration Control ◽  
Young’S Modulus ◽  
Young's Modulus ◽  
Design Method ◽  
Control Area ◽  
Spring Constant ◽  
Damping Capacity

Shape memory alloys (SMAs) have several unique characteristics, including their Young’s modulus-temperature relations, shape memory effects, and damping characteristics. The Young’s modulus of the high-temperature austenite of SMAs is about three to four times as large as that of low-temperature martensite. Therefore, a spring made of shape memory alloy can change its spring constant by a factor of three to four. Since a shape memory alloy spring can vary its spring constant, provide recovery stress (shape memory effect), or be designed with a high damping capacity, it may be useful in adaptive vibration control. Some vibration control concepts utilizing the unique characteristics of SMAs will be presented in this paper. Shape memory alloy springs have been used as actuators in many applications although their use in the vibration control area is very recent. Since shape memory alloys differ from conventional alloy materials in many ways, the traditional design approach for springs is not completely suitable for designing SMA springs. Some design approaches based upon linear theory have been proposed for shape memory alloy springs. A more accurate design method for SMA springs based on a new nonlinear thermomechanical constitutive relation of SMA is also presented in this paper.

scholarly journals Optimization of MEMS Actuator Driven by Shape Memory Alloy Thin Film Phase Change

2020 ◽  
Author(s):  
Cory R. Knick
Keyword(s):  
Shape Memory Alloy ◽  
Phase Change ◽  
Shape Memory ◽  
Curvature Radius ◽  
Alloy Thin Film ◽  
Individual Layer ◽  
Cantilever Length ◽  
Stress Changes ◽  
Bimorph Actuators ◽  
High Work

At the microscale, shape memory alloy (SMA) microelectromechanical system (MEMS) bimorph actuators offer great potential based on their inherently high work density. An optimization problem relating to the deflection and curvature based on shape memory MEMS bimorph was identified, formulated, and solved. Thicknesses of the SU-8 photoresist and nickel-titanium alloy (NiTi) was identified that yielded maximum deflections and curvature radius based on a relationship among individual layer thicknesses, elastic modulus, and cantilever length. This model should serve as a guideline for optimal NiTi and SU-8 thicknesses to drive large deflections and curvature radius that are most suitable for microrobotic actuation, micromirrors, micropumps, and microgrippers. This model would also be extensible to other phase-change-driven actuators where nonlinear and significant residual stress changes are used to drive actuation.

scholarly journals An analytical model for crack monitoring of the shape memory alloy intelligent concrete

2019 ◽  
Vol 31 (1) ◽  
pp. 100-116 ◽  
Author(s):  
Bingfei Liu ◽  
Qingfei Wang ◽  
Kai Yin ◽  
Liwen Wang
Keyword(s):  
Shape Memory Alloy ◽  
Constitutive Model ◽  
Shape Memory Alloys ◽  
Shape Memory ◽  
Three Dimensional ◽  
Three Dimensional Model ◽  
One Dimensional ◽  
Monitoring Model ◽  
Crack Monitoring ◽  
The One

A theoretical model for the crack monitoring of the shape memory alloy intelligent concrete is presented in this work. The mechanical properties of shape memory alloy materials are first given by the experimental test. The one-dimensional constitutive model of the shape memory alloys is reviewed by degenerating from a three-dimensional model, and the behaviors of the shape memory alloys under different working conditions are then discussed. By combining the electrical resistivity model and the one-dimensional shape memory alloy constitutive model, the crack monitoring model of the shape memory alloy intelligent concrete is given, and the relationships between the crack width of the concrete and the electrical resistance variation of the shape memory alloy materials for different crack monitoring processes of shape memory alloy intelligent concrete are finally presented. The numerical results of the present model are compared with the published experimental data to verify the correctness of the model.

scholarly journals Modeling the behavior of bilayer shape memory alloy/functionally graded material beams considering asymmetric shape memory alloy response

2019 ◽  
Vol 31 (1) ◽  
pp. 84-99 ◽  
Author(s):  
Nguyen Van Viet ◽  
Wael Zaki ◽  
Rehan Umer ◽  
Quan Wang
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Functionally Graded Material ◽  
Three Dimensional ◽  
Laminated Composite ◽  
Alloy Layer ◽  
Functionally Graded ◽  
Tension And Compression ◽  
Graded Material ◽  
Asymmetric Shape

A new model is proposed to describe the response of laminated composite beams consisting of one shape memory alloy layer and one functionally graded material layer. The model accounts for asymmetry in tension and compression of the shape memory alloy behavior and successfully describes the dependence of the position of the neutral surface on phase transformation within the shape memory alloy and on the load direction. Moreover, the model is capable of describing the response of the composite beam to both loading and unloading cases. In particular, the derivation of the equations governing the behavior of the beam during unloading is presented for the first time. The effect of the functionally graded material gradient index and of temperature on the neutral axis deviation and on the overall behavior of the beam is also discussed. The results obtained using the model are shown to fit three-dimensional finite element simulations of the same beam.

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