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Journal ArticleDOI

Modelling and simulation of a novel shape memory alloy actuated compliant parallel manipulator

01 Jun 2008-Vol. 222, Iss: 6, pp 1049-1059
TL;DR: In this article, a compliant shape memory alloy (SMA) actuated fully compliant spatial parallel mechanism is proposed and its static analysis using ANSYS is presented. And the simulation results show that 4 per cent strain for SMA actuation is optimal considering the geometric non-linearity of the proposed mechanism for obtaining maximum displacement.
Abstract: This paper presents the non-linear analysis of a shape memory alloy (SMA) actuated fully compliant spatial parallel mechanism. A compliant mechanism made of SMA wires as its actuators and SMA pipe as its structural member that exploits both the shape memory and superelastic effects is proposed and its static analysis using ANSYS is presented in this study. Finite element analysis in a multi-physics environment considering geometric and material non-linearities helps the user to analyse complex behaviour of a system. For the proposed mechanism, simulation results show: (a) 4 per cent strain for SMA actuation is optimal considering the geometric non-linearity of the proposed mechanism for obtaining maximum displacement; (b) buckling effect is less predominant while implementing the superelastic behaviour; and (c) the mechanism can be designed as a compliant device with one or more inflexion points by exploiting the superelasticity of the SMA pipe. The knowledge obtained from the simulation study could help ...
Citations
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Journal ArticleDOI
TL;DR: Shape memory alloys (SMAs) as discussed by the authors are a unique class of metallic materials with the ability to recover their original shape at certain characteristic temperatures (shape memory effect), even under high applied loads and large inelastic deformations, or to undergo large strains without plastic deformation or failure (super-elasticity).
Abstract: Shape memory alloys (SMAs) are a unique class of metallic materials with the ability to recover their original shape at certain characteristic temperatures (shape memory effect), even under high applied loads and large inelastic deformations, or to undergo large strains without plastic deformation or failure (super-elasticity). In this review, we describe the main features of SMAs, their constitutive models and their properties. We also review the fatigue behavior of SMAs and some methods adopted to remove or reduce its undesirable effects. SMAs have been used in a wide variety of applications in different fields. In this review, we focus on the use of shape memory alloys in the context of morphing aircraft, with particular emphasis on variable twist and camber, and also on actuation bandwidth and reduction of power consumption. These applications prove particularly challenging because novel configurations are adopted to maximize integration and effectiveness of SMAs, which play the role of an actuator (using the shape memory effect), often combined with structural, load-carrying capabilities. Iterative and multi-disciplinary modeling is therefore necessary due to the fluid–structure interaction combined with the nonlinear behavior of SMAs.

307 citations


Cites methods from "Modelling and simulation of a novel..."

  • ...…ABAQUS (Han and Lu 2006, Richter et al 2009, Chemisky et al 2008, Gong et al 2004), FEMLAB, now COMSOL Multi-physics (Li and Seelecke 2007, Shrivastava 2006, Collet 2008, Thiebaud et al 2005, Yang and Seelecke 2008), ANSYS (Terriault et al 2006, Sreekumar et al 2008), and MSC/Marc (Saeedvafa 2002)....

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Journal ArticleDOI
TL;DR: In this article, a micro-scale manipulator based on a six-DOF compliant parallel mechanism (CPM), which is featured by piezo-driven actuators and integrated force sensor capable of delivering sixDOF motions with high precision and providing real-time force information for feedback control, is presented.
Abstract: This paper describes the design of a micro-scale manipulator based on a six-DOF compliant parallel mechanism (CPM), which is featured by piezo-driven actuators and integrated force sensor capable of delivering six-DOF motions with high precision and providing real-time force information for feedback control Particularly, the position and screw-based Jacobian analyses of the CPM are presented Then, the compliance model and the workspace evaluation of the CPM are proposed in order to account for the compliance and obtain design guidelines Finally, the integrated sensor is introduced The static features of such a mechanism include high positioning accuracy, structural compactness and smooth and continuous displacements

95 citations

Journal ArticleDOI
TL;DR: In this paper, an explicit model of the temperature of Ni-Ti SMA wire is developed to estimate the temperature-time profile during resistive heating, and a finite-difference equation was developed to predict the associated temperature during cooling.

44 citations


Additional excerpts

  • ...Physical properties such as Young’s modulus, yield strength, and thermal and electrical properties are dependant on the associated SMA phase, for example [26]....

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Journal ArticleDOI
TL;DR: In this paper, an experimental investigation on the open loop behavior of a spatial compliant mechanism using trained NiTi Shape Memory Alloy (SMA) actuators has been conducted, where the SMA actuators have been trained by thermal cycling with constant bias force.

27 citations

Journal ArticleDOI
01 Apr 2010
TL;DR: In this paper, the buckling and post-buckling behaviors of a laminated composite spherical shallow shell panel embedded with shape memory alloy (SMA) fibres are studied under a thermal e...
Abstract: In this article, the buckling and post-buckling behaviours of a laminated composite spherical shallow shell panel embedded with shape memory alloy (SMA) fibres are studied under a thermal e...

22 citations

References
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Journal ArticleDOI
TL;DR: In this paper, generalized plasticity is adopted as a framework for the development of one-and three-dimensional constitutive models for shape-memory alloys, such as superelasticity, different material behavior in tension and compression, and the single-variant-martensite reorientation process.

622 citations

Journal ArticleDOI
TL;DR: In this paper, a nonlinear finite element procedure is developed which incorporates a thermodynamically derived constitutive law for shape memory alloy material behavior, and the constitutive equations include the necessary internal variables to account for the material transformations.

271 citations

Journal ArticleDOI
TL;DR: In this paper, the analysis, design, and characterization of a superelastic alloy (NiTi) microgripper with integrated electromagnetic actuators and piezoelectric force sensors is presented.
Abstract: This paper presents the analysis, design, and characterization of a superelastic alloy (NiTi) microgripper with integrated electromagnetic actuators and piezoelectric force sensors. The microgripper, fabricated by electro-discharge machining, features force sensing capability, large force output, and large displacements to accommodate objects of various sizes. The design parameters for the embedded electromagnetic actuators were selected on the basis of finite element sensitivity analysis. In order to make the microgripper capable of resolving gripping forces, piezoelectric force sensors were fabricated and integrated into the microgripper. The performance of the microgripper, the integrated force sensors, and the electromagnetic actuators was experimentally evaluated. A satisfactory match between experimental results and finite element simulations was obtained. Furthermore, comparison studies demonstrated that the superelastic alloy (NiTi) microgripper was capable of producing larger displacement than a stainless steel microgripper. Finally, experimental results of optical fiber alignment and the manipulation of tiny biological tissues with the superelastic microgripper were presented.

163 citations

Journal ArticleDOI
C. Liang1, Craig A. Rogers1
TL;DR: The design of shape memory alloy force and displacement actuators based upon the thermomechanical constitutive relations previously developed by the authors are described and the utility and advantages of this method over design methods currently being used are presented.
Abstract: 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.

141 citations