A shape memory alloy helix model accounting for extension and torsion

Esposito, Luca; Fraldi, Massimiliano; Ruocco, Eugenio; Sacco, Elio

doi:10.1016/j.euromechsol.2021.104281

Cited by 7 publications

(7 citation statements)

References 38 publications

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“…SMA springs can be stretched and twisted more significantly as an actuating element of the SAU. Considering the differentiation process and working principle of SAU, SMA springs deform and twist in the axial direction, which is related to the shear strain and positive strain of the spring wire [48,49]. The relationship between the spring torsion angle and the SMA line strain can be expressed as formula (9), which is related to the initial number of coils of the spring N 0 and strain of the SMA wire ε s .…”

Section: Mechanical Design Of Sausmentioning

confidence: 99%

A differentiable actuator extends potential configurations of modular robots

Li,

Zhang,

Liang

et al. 2024

Smart Mater. Struct.

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Mesenchymal stem cells can be differentiated into various cell lineages under the influence of mechano-niche. Inspired by this approach, this study presents a differentiable stem cell actuator unit (SAU) driven by a shape memory alloy (SMA), and a modular robotic framework. Similar to mechanically guided differentiation of mesenchymal stem cells, SAUs can be differentiated into a series of differentiated actuator units (DAUs) under external preload. This process has been modeled, simulated, and experimentally validated, with testing conducted on three distinct types and 14 specifications of DAUs. DAUs weighing as light as 1.9g exhibited outputs reaching up to 10.6N and 46.32Nmm. Our team has developed seven application prototypes based on this bio-inspired framework including mobile robots, manipulators and end effectors. This work pioneers the integration of differentiable concepts and principles into the design of modular robots, enabling a wider range of potential configurations and capabilities.

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Section: Mechanical Design Of Sausmentioning

confidence: 99%

A differentiable actuator extends potential configurations of modular robots

Li,

Zhang,

Liang

et al. 2024

Smart Mater. Struct.

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“…A foldable nanosized shape memory actuator into 3D configurations presented in [84] can move around. A numerical was developed for reproducing the mechanical response to integration of the time evolution nonlinear equations governing the response of the SMA spring [85]. The control of a soft planar gripper for grasping deformable objects without integrated sensors, in presented in [86].…”

Section: Drivers and Servo Actuationsmentioning

confidence: 99%

Control Aspects of Shape Memory Alloys in Robotics Applications: A Review over the Last Decade

Ruth

Sohn

Kaliaperumal

et al. 2022

Sensors

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This paper mainly focuses on various types of robots driven or actuated by shape memory alloy (SMA) element in the last decade which has created the potential functionality of SMA in robotics technology, that is classified and discussed. The wide spectrum of increasing use of SMA in the development of robotic systems is due to the increase in the knowledge of handling its functional characteristics such as large actuating force, shape memory effect, and super-elasticity features. These inherent characteristics of SMA can make robotic systems small, flexible, and soft with multi-functions to exhibit different types of moving mechanisms. This article comprehensively investigates three subsections on soft and flexible robots, driving or activating mechanisms, and artificial muscles. Each section provides an insight into literature arranged in chronological order and each piece of literature will be presented with details on its configuration, control, and application.

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“…Since this work is related to the position estimation, this kind of effects is not part of our scope, but this remains an open issue that could be studied since a mechanical approximation related to the configuration of the springs, the manner that they can be placed in the actuator, and the dynamics that may describe the torsional effects could be included as a disturbance term related to the position of the actuator. Another element of the disturbance function that can be further analysed is the temperature related to the geometry of the spring [ 48 , 49 ]. Temperature estimation of the SMA spring: In this work, the temperature was just measured on a specific place of the spring, and the obtained information was just acquired in order to avoid damages in the mechanical structure by the overheat during the activation of the actuator.…”

Section: Future Workmentioning

confidence: 99%

Section: Future Workmentioning

confidence: 99%

Position Measurements Using Magnetic Sensors for a Shape Memory Alloy Linear Actuator

Vega

Cubas

Sandoval-Chileño

et al. 2022

Sensors

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This article presents the design and implementation of a linear actuator based on NiTi Shape Memory Alloys with temperature and position measurements based on a magnetic sensor array and a set of thermistors. The position instrumentation is contact free to avoid friction perturbations; the position signal conditioning is carried out through the calculation of the response of each magnetic sensor, selecting the closest sensor to ensure accurate results on the full range of movement. Experimental results validate the accuracy of the position sensing with a competitive behaviour.

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A shape memory alloy helix model accounting for extension and torsion

Cited by 7 publications

References 38 publications

A differentiable actuator extends potential configurations of modular robots

A differentiable actuator extends potential configurations of modular robots

Control Aspects of Shape Memory Alloys in Robotics Applications: A Review over the Last Decade

Position Measurements Using Magnetic Sensors for a Shape Memory Alloy Linear Actuator

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