Finite element analysis of a prestressed mechanism with multi-antagonistic and hysteretic SMA actuation

This paper deals with the specific hysteretic effects of a multi-antagonistic shape-memory alloy (SMA) actuation system in which each wire can be thermally activated individually (one or more at a time). A planar system with six SMA wires organized in a ternary rotational symmetry is studied numerically, via finite element calculation software. The objective is to analyze the functional characteristics of such mechanism, whose response during a thermal activation sequence is multi-antagonistic and hysteretic. Important points are highlighted, such as the avoidance of buckling and plasticity, the possibility of locking a configuration without energy input, and the “attraction” effect of any heating step on the following steps. The feasibility of reaching a given target in the workspace is also illustrated. Finally, the analysis shows the necessity to consider these multi-antagonistic and hysteretic aspects of the actuation in the future design and control of such type of mechanisms. The latter could be of interest as hollow shaft rotary actuators with additional (small) translation degrees of freedom in applications requiring long-term and stable positioning at ambient temperature.

[1]  Javad Foroughi,et al.  Actuator Materials: Review on Recent Advances and Future Outlook for Smart Textiles , 2019, Fibers.

[2]  A. Kneissl,et al.  Generation, development and degradation of the intrinsic two-way shape memory effect in different alloy systems , 2002 .

[3]  Ferdinando Auricchio,et al.  A robust integration-algorithm for a finite-strain shape-memory-alloy superelastic model , 2001 .

[4]  Jian S. Dai,et al.  A Novel 4-DOF Origami Grasper With an SMA-Actuation System for Minimally Invasive Surgery , 2016, IEEE Transactions on Robotics.

[5]  D. M. Elzey,et al.  Two-way Antagonistic Shape Actuation Based on the One-way Shape Memory Effect , 2008 .

[6]  Sung-Hoon Ahn,et al.  SMA-based smart soft composite structure capable of multiple modes of actuation , 2015 .

[7]  Xianmin Zhang,et al.  A new topology optimization method for planar compliant parallel mechanisms , 2016 .

[8]  M. Sitti,et al.  Soft Actuators for Small‐Scale Robotics , 2017, Advanced materials.

[9]  Frédéric Lamarque,et al.  Optimization of an optically controlled bistable micro-actuator , 2018, 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).

[10]  Z. Pilch,et al.  A novel SMA drive based on the Graham Clock escapement and resistance feedback , 2019, Sensors and Actuators A: Physical.

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

[12]  K Akash,et al.  Thermo-mechanical behavior of shape memory alloy spring actuated using novel scanning technique powered by ytterbium doped continuous fiber laser , 2019, Smart Materials and Structures.

[13]  Martin Leary,et al.  A review of shape memory alloy research, applications and opportunities , 2014 .

[14]  N. Si,et al.  Influence of thermomechanical training deformations on TWSME in TiNiCu alloy spring , 2008 .

[15]  Jérôme Szewczyk,et al.  Design and Experimental Validation of an Active Catheter for Endovascular Navigation , 2018, 1906.01309.

[16]  Mohammad Reza Zakerzadeh,et al.  Developing a fast response SMA-actuated rotary actuator: modeling and experimental validation , 2018 .

[17]  Jean-Christophe Fauroux,et al.  Concept for a 3D-printed soft rotary actuator driven by a shape-memory alloy , 2018 .

[18]  Kiyohide Wada,et al.  On the mechanisms of two-way memory effect and stress-assisted two-way memory effect in NiTi shape memory alloy , 2008 .

[19]  Yeongjin Kim,et al.  Modeling and characterization of shape memory alloy springs with water cooling strategy in a neurosurgical robot , 2017, Journal of intelligent material systems and structures.

[20]  M. Moallem,et al.  Tracking Control of an Antagonistic Shape Memory Alloy Actuator Pair , 2009, IEEE Transactions on Control Systems Technology.

[21]  Jian S. Dai,et al.  Helical Kirigami-Enabled Centimeter-Scale Worm Robot With Shape-Memory-Alloy Linear Actuators , 2015 .

[22]  Moosa Ayati,et al.  Robust sliding mode position control of a fast response SMA-actuated rotary actuator using temperature and strain feedback , 2019, Sensors and Actuators A: Physical.

[23]  Thanh Nho Do,et al.  A survey on actuators-driven surgical robots , 2016 .

[24]  Xavier Balandraud,et al.  Influence of Thermal Boundary Effects on the Process of Creating Recovery Stresses in a SMA Wire Activated by Joule Heating , 2017, Journal of Materials Engineering and Performance.

[25]  O. Benafan,et al.  High temperature shape memory alloy Ni50.3Ti29.7Hf20 torque tube actuators , 2017 .

[26]  Kyung Hyun Choi,et al.  Omni Directional Multimaterial Soft Cylindrical Actuator and Its Application as a Steerable Catheter. , 2017, Soft robotics.

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

[28]  Anargyros A Karakalas,et al.  Effect of shape memory alloys partial transformation on the response of morphing structures encompassing shape memory alloy wire actuators , 2019, Journal of Intelligent Material Systems and Structures.

[29]  Sylvain Calloch,et al.  R-phase shape memory alloy helical spring based actuators: Modeling and experiments , 2019, Sensors and Actuators A: Physical.

[30]  Aleksandar Subic,et al.  Designing shape memory alloy linear actuators: A review , 2017 .

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

[32]  Jose G. Martinez,et al.  Actuating Textiles: Next Generation of Smart Textiles , 2018, Advanced Materials Technologies.

[33]  J. Fauroux,et al.  A review of rotary actuators based on shape memory alloys , 2017 .

[34]  Micky Rakotondrabe.  Smart Materials-Based Actuators at the Micro/Nano-Scale , 2013 .

[35]  Jean-Pierre Merlet.  Wire-driven Parallel Robot: Open Issues , 2013 .

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

[37]  Toshiro Higuchi.  Next generation actuators leading breakthroughs , 2010 .

[38]  Darren J. Hartl,et al.  Design and numerical analysis of an SMA mesh-based self-folding sheet , 2013 .

[39]  Valder Steffen,et al.  Vibration control of a flexible rotor suspended by shape memory alloy wires , 2018 .

[40]  Mohammad Mahdi Kheirikhah,et al.  A Review of Shape Memory Alloy Actuators in Robotics , 2010, RoboCup.

[41]  Kyu-Jin Cho,et al.  Omega-Shaped Inchworm-Inspired Crawling Robot With Large-Index-and-Pitch (LIP) SMA Spring Actuators , 2013, IEEE/ASME Transactions on Mechatronics.

[42]  Yong Liu,et al.  3D printing of smart materials: A review on recent progresses in 4D printing , 2015 .

[43]  P. Sedlák,et al.  Beyond the strain recoverability of martensitic transformation in NiTi , 2019, International Journal of Plasticity.

[44]  Andrea Micheletti,et al.  Superelastic tensegrities: matrix formulation and antagonistic actuation , 2018, Smart Materials and Structures.

[45]  Darren J. Hartl,et al.  Exploration of static equilibrium in elastically biased shape memory alloy components , 2019, Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring.

[46]  C CaseJennifer,et al.  A Soft Parallel Kinematic Mechanism , 2017 .

[47]  Xavier Balandraud,et al.  Using shape memory alloys to obtain variable compliance maps of a flexible structure: concept and modeling , 2016 .

[48]  Xavier Balandraud,et al.  A compliant mechanism with variable stiffness achieved by rotary actuators and shape-memory alloy , 2018 .

[49]  Lizhong Xu,et al.  A harmonic movable tooth drive system integrated with shape memory alloys , 2019 .

[50]  Gursel Alici,et al.  Locomotion analysis and optimization of actinomorphic robots with soft arms actuated by shape memory alloy wires , 2018, International Journal of Advanced Robotic Systems.

[51]  Stephen A. Mascaro,et al.  Optimal Control Algorithm for Multi-Input Binary-Segmented SMA Actuators Applied to a Multi-DOF Robot Manipulator , 2013 .