Using shape memory alloys to obtain variable compliance maps of a flexible structure: concept and modeling

This study deals with the evaluation of the compliance map variability of a flexible structure using an active material, namely a shape memory alloy (SMA). Compliance or stiffness maps are an important indicator of the performances of robotic structures or mechanisms, for instance to assess the positioning error for a production task. The paper carefully examines the impact of the combination of a compliant structure (here a closed-loop flexible structure) and a SMA spring. Various static compliance maps are simulated and analyzed with respect to the state of the SMA. Several aspects are discussed, such as the concept of pseudo-workspace deriving from the deformation of the structure, or the anisotropy and non-linearity of the compliance change, as well as the relevance of the large displacement framework (in the strength of materials sense) for the correct calculation of the compliance maps. The results enable us to validate the capability of the combination of a compliant structure and a SMA component to achieve variable compliance maps that could be used for polyvalent robotic tasks.

[1]  Floris Ernst,et al.  Medical Robotics , 2015, Springer International Publishing.

[2]  R Bharanidaran,et al.  Numerical simulation and experimental investigation of a topologically optimized compliant microgripper , 2014 .

[3]  Denis Favier,et al.  Young’s Modulus of Austenite and Martensite Phases in Superelastic NiTi Wires , 2013, Journal of Materials Engineering and Performance.

[4]  L. Schetky.  Shape-memory alloys , 1979 .

[5]  Alireza Fathi,et al.  Preferred design of recurrent neural network architecture using a multiobjective evolutionary algorithm with un-supervised information recruitment: a paradigm for modeling shape memory alloy actuators , 2014 .

[6]  Jaakko Heinonen,et al.  Controlling stiffness of a frame spring by changing the boundary condition with an SMA actuator , 2008 .

[7]  Dimitris C. Lagoudas,et al.  Aerospace applications of shape memory alloys , 2007 .

[8]  C. M. Wayman,et al.  Shape-Memory Materials , 2018 .

[9]  Harold Kahn,et al.  The TiNi shape-memory alloy and its applications for MEMS , 1998 .

[10]  Dominiek Reynaerts,et al.  Shape memory micro-actuation for a gastro-intestinal intervention system , 1999 .

[11]  Hélène Chanal,et al.  A study of the impact of machine tool structure on machining processes , 2006 .

[12]  Jong-Oh Park,et al.  Design and fabrication of a locomotive mechanism for capsule-type endoscopes using shape memory alloys (SMAs) , 2005 .

[13]  Ming H. Wu,et al.  INDUSTRIAL APPLICATIONS FOR SHAPE MEMORY ALLOYS , 2000 .

[14]  Jocelyne Troccaz.  Medical Robotics: Troccaz/Medical Robotics , 2013 .

[15]  Yong Qing Fu,et al.  Characterization of TiNi shape-memory alloy thin films for MEMS applications , 2001 .

[16]  Clément Gosselin,et al.  Stiffness mapping for parallel manipulators , 1990, IEEE Trans. Robotics Autom..

[17]  Takashi Maeno,et al.  Development of a Miniature Robot Finger with a Variable Stiffness Mechanism using Shape Memory Alloy , 2004 .

[18]  Xavier Balandraud,et al.  Improvement of the mechanical performances of concrete cylinders confined actively or passively by means of SMA wires , 2015 .

[19]  Xavier Balandraud,et al.  FEM-Based Generation of Stiffness Maps , 2015, IEEE Transactions on Robotics.

[20]  J. Mac-Thiong,et al.  Monolithic superelastic rods with variable flexural stiffness for spinal fusion: modeling of the processing-properties relationship. , 2014, Medical engineering & physics.

[21]  D. Lagoudas.  Shape memory alloys : modeling and engineering applications , 2008 .

[22]  M. Sreekumar,et al.  Application of trained NiTi SMA actuators in a spatial compliant mechanism: Experimental investigations , 2009 .

[23]  Christian Lexcellent,et al.  Shape-memory Alloys Handbook: Lexcellent/Shape-memory Alloys Handbook , 2013 .