A finite element framework for a shape memory alloy actuated finger

Simone, Filomena; Rizzello, Gianluca; Seelecke, Stefan

doi:10.1177/1045389x19861787

Cited by 9 publications

(9 citation statements)

References 26 publications

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“…The DAG specimen using polylactic acid (PLA-1.75 mm) material is printed by a 3D printer Infinity X2, as shown in Figure 6 1 and 2. See the reference (Simone et al, 2019;Fumagalli et al, 2009;Li et al, 2022aLi et al, , 2022b for more details on material parameters. It should be noted that the SMA wire needs to be prestretched during installation to balance the SMA wire, structure and spring in the DAG to its initial state.…”

Section: Specimen Preparationmentioning

confidence: 99%

“…The grippers based on SMA wire exhibit the advantages of being compact, lightweight and easy to manufacture quickly, in addition to reducing size, weight and system complexity. (Simone et al , 2019; Simone et al , 2017; Wang et al , 2020). Furthermore, most of the gripper structures are polymer-based, and this feature makes it easy to integrate them with other adaptable components.…”

Section: Introductionmentioning

confidence: 99%

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A novel dual-stage shape memory alloy actuated gripper

Liu

Tong

et al. 2022

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Purpose The paper aims to propose a novel dual-stage shape memory alloy (SMA) actuated gripper (DAG), of which the grasp performance is improved through primary and secondary actuation. Design/methodology/approach This paper presents a method of integrating the design of dual-stage actuation modules based on the SMA bias actuation principle to enhance the grasping shape adaptability and force modulation of a DAG. The actuation angle range and grasping performance of the DAG are investigated by thermomechanical analysis and the finite element method based numerical simulation. Findings The results of present experiments and simulations indicate that the actuation angle scope of the DAG is about 20° under no load, which enables the grasping space occupied by an object in the DAG from 60 mm to 120 mm. The grasping force adjusted by changing the input power of the primary main actuation module and secondary fine-tuning actuation module can reach a maximum of 2 N, which is capable of grasping objects of various sizes, weights, shapes, etc. Originality/value The contribution of this paper is to design a DAG based on SMA, and establish the solution methods for the primary main actuation module and secondary fine-tuning actuation module, respectively. It lays a foundation for the research of lightweight and intelligent robotic grippers.

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Section: Specimen Preparationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A novel dual-stage shape memory alloy actuated gripper

Liu

Tong

et al. 2022

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“…Each finger is designed in order to achieve the desired motion range by exploiting a SMA strain of only 3.5%, which represents the safe value for high lifetime (Fumagalli et al, 2009). The SMA wires dimensioning is obtained by means of kinematic and dynamic models formulated in Simone et al (2017Simone et al ( , 2019.…”

Section: Finger Designmentioning

confidence: 99%

“…This feature makes superelastic SMAs suitable to be integrated as flexible joints in soft robotics structures. In order to preserve the optimized hand design as in Simone et al ( 2019 ), the hinge joints are directly replaced by the superelastic SMA wires located along the joint vertical axis.…”

Section: Design and Modelsmentioning

confidence: 99%

A Soft Five-Fingered Hand Actuated by Shape Memory Alloy Wires: Design, Manufacturing, and Evaluation

et al. 2020

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This work presents a novel five-fingered soft hand prototype actuated by Shape Memory Alloy (SMA) wires. The use of thin (100 μm diameter) SMA wire actuators, in conjunction with an entirely 3D printed hand skeleton, guarantees an overall lightweight and flexible structure capable of silent motion. To enable high forces with sufficiently high actuation speed at each fingertip, bundles of welded actuated SMA wires are used. In order to increase the compliance of each finger, flexible joints from superelastic SMA wires are inserted between each phalanx. The resulting system is a versatile hand prototype having intrinsically elastic fingers, which is capable to grasp several types of objects with a considerable force. The paper starts with the description of the finger hand design, along with practical considerations for the optimal placement of the superelastic SMA in the soft joint. The maximum achievable displacement of each finger phalanx is measured together with the phalanxes dynamic responsiveness at different power stimuli. Several force measurement are also realized at each finger phalanx. The versatility of the prototype is finally demonstrated by presenting several possible hand configurations while handling objects with different sizes and shapes.

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“…Xu et al (2021) proposed a three-dimensional constitutive model of SMA with a bidirectional shape memory effect. Simone et al (2019) developed a finite element model based on COMSOL to describe the SMA finger model and verified the mechanical performance of the drive for different powers and geometries.…”

Section: Introductionmentioning

confidence: 99%

A novel magnetorheological braking system with variable magnetic particle volume fractioncontrolled by utilizing shape memory alloy

Xiong

2022

Journal of Intelligent Material Systems and Structures

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To address the shortcomings of decreasing shear yield stress of magnetorheological fluid due to temperature increase, magnetic saturation phenomenon under the action of a strong magnetic field, and decreasing performance of magnetorheological brake due to magnetic particle settling, a braking system of variable particle volume fraction of magnetorheological fluid modulated by shape memory alloy spring is proposed, which solves the shortcomings of constant particle volume fraction magnetorheological brakes. The brake temperature rises and automatically increases the volume fraction of magnetorheological fluid, leading to increase in the braking torque and ensuring stable braking performance at high temperatures. The magnetorheological fluid particle settling stability is enhanced, and energy consumption at idle is reduced. Based on the shape memory effect of shape memory alloy, the relationship between the output displacement of shape memory alloy spring and temperature, squeezing pressure and volume fraction of magnetic particles is established. Based on the microscopic body-centered tetragonal structure of magnetorheological fluid, the relationship between the volume fraction of magnetic particles and the magnetic permeability of magnetorheological fluid was established. Based on the rheological characteristics of magnetorheological fluid, the relationship between the braking torque of magnetorheological fluid and the magnetic permeability and the volume fraction of magnetic particles is established; and the finite element method was applied to simulate and analyze it. The results show that the magnetic permeability increases with the increase of the volume fraction of magnetic particles and the braking torque increase with the increase of the volume fraction of magnetic particles during the evolution of the magnetorheological fluid microstructure from single chain to body-centered tetragonal structure. When the volume fraction of magnetic particles in the magnetorheological fluid increased from 15% to 45%, the magnetorheological brake torque increased to 10.1N·m, and the braking performance of the magnetorheological brake improved by 14.3%. The experimental and theoretical analyses provide a theoretical basis for the design and manufacture of magnetorheological fluid brakes with variable particle volume fractions.

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A finite element framework for a shape memory alloy actuated finger

Cited by 9 publications

References 26 publications

A novel dual-stage shape memory alloy actuated gripper

A novel dual-stage shape memory alloy actuated gripper

A Soft Five-Fingered Hand Actuated by Shape Memory Alloy Wires: Design, Manufacturing, and Evaluation

A novel magnetorheological braking system with variable magnetic particle volume fractioncontrolled by utilizing shape memory alloy

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