Abstract
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.
Similar content being viewed by others
References
Higuchi T, Suzumori K, Tadokoro S (2010) Next-generation actuators leading breakthroughs. Springer, London. https://doi.org/10.1007/978-1-84882-991-6
Rakotondrabe M (2013) Smart materials-based actuators at the micro/nano-scale. Springer, New-York. https://doi.org/10.1007/978-1-4614-6684-0
Asaka K, Okuzaki H (2014) Soft actuators. Springer, Tokyo. https://doi.org/10.1007/978-4-431-54767-9
Khoo ZX, Teoh JEM, Liu Y, Chua CK, Yang SF, An J, Leong KF, Yeong WY (2015) 3D printing of smart materials: a review on recent progresses in 4D printing. Virtual Phys Prototyp 10:103–122
Le HM, Do TN, Phee SJ (2016) A survey on actuators-driven surgical robots. Sens Actuators Phys 247:323–354
Couture T, Szewczyk J (2018) Design and experimental validation of an active catheter for endovascular navigation. J Med Devices 12:011003
Kheirikhah MM, Rabiee S, Edalat ME (2010) A review of shape memory alloy actuators in robotics. In: Ruiz-del-Solar J, Chown E, Plöger PG (eds) RoboCup 2010: robot soccer world cup XIV. Lecture Notes in Computer Science, vol 6556. Springer, Berlin, pp 206–217. https://doi.org/10.1007/978-3-642-20217-9_18
Hines L, Petersen K, Lum GZ, Sitti M (2017) Soft actuators for small-scale robotics. Adv Mater 29:1603483
Mohd Jani J, Leary M, Subic A (2017) Designing shape memory alloy linear actuators: a review. J Intell Mater Syst Struct 28:1699–1718
Yuan H, Fauroux JC, Chapelle F, Balandraud X (2017) A review of rotary actuators based on shape memory alloys. J Intell Mater Syst Struct 28:1863–1885
Liu C, Dong E, Xu M et al (2018) Locomotion analysis and optimization of actinomorphic robots with soft arms actuated by shape memory alloy wires. Int J Adv Robot Syst 15:1729881418787943
Mekaouche A, Chapelle F, Balandraud X (2018) A compliant mechanism with variable stiffness achieved by rotary actuators and shape-memory alloy. Meccanica 53:2555–2571
Karakalas AA, Machairas TT, Saravanos DA (2019) Effect of shape memory alloys partial transformation on the response of morphing structures encompassing shape memory alloy wire actuators. J Intell Mater Syst Struct 30:1682–1698
Xu L, Cai Z, He X (2019) A harmonic movable tooth drive system integrated with shape memory alloys. Smart Struct Syst 23:319–327
Otsuka K, Wayman CM (1999) Shape memory materials. Cambridge University Press, Cambridge
Chen L, Si N (2008) Influence of thermomechanical training deformations on twsme in tinicu alloy spring. J Alloy Compd 448(1):219–222
Wada K, Liu Y (2008) On the mechanisms of two-way memory effect and stress-assisted two-way memory effect in NiTi shape memory alloy. J Alloy Compd 449(1):125–128
Scherngell H, Kneissl A (2002) Generation, development and degradation of the intrinsic two-way shape memory effect in different alloy systems. Acta Mater 50(2):327–341
Debska A, Balandraud X, Destrebecq JF et al (2017) Influence of thermal boundary effects on the process of creating recovery stresses in a SMA wire activated by Joule heating. J Mater Eng Perform 26:3336–3346
Prabu SM, Mithun R, Muralidharan M et al (2019) Thermo-mechanical behavior of shape memory alloy spring actuated using novel scanning technique powered by ytterbium doped continuous fiber laser. Smart Mater Struct 28:047001
Cheng SS, Kim Y, Desai JP (2017) Modeling and characterization of shape memory alloy springs with water cooling strategy in a neurosurgical robot. J Intell Mater Syst Struct 28:2167–2183
Doroudchi A, Zakerzadeh MR, Baghani M (2018) Developing a fast response SMA-actuated rotary actuator: modeling and experimental validation. Meccanica 53:305–317
Jani JM, Leary M, Subic A, Gibson MA (2014) A review of shape memory alloy research, applications and opportunities. Mater Des 56:1078–1113
Alves MTS, Steffen V Jr, Castro dos Santos M et al (2018) Vibration control of a flexible rotor suspended by shape memory alloy wires. J Intell Mater Syst Struct 29:2309–2323
Persson N-K, Martinez JG, Zhong Y et al (2018) Actuating textiles: next generation of smart textiles. Adv Mater Technol 3:1700397
Kongahage D, Foroughi J (2019) Actuator materials: review on recent advances and future outlook for smart textiles. Fibers 7:21
Gul JZ, Yang YJ, Su KY, Choi KH (2017) Omni directional multimaterial soft cylindrical actuator and its application as a steerable catheter. Soft Robot 4:224–240
Koh JS, Cho KJ (2013) Omega-shaped inchworm-inspired crawling robot with large-index-and-pitch (LIP) SMA spring actuators. IEEE ASME Trans Mechatron 18:419–429
Peraza-Hernandez EA, Hartl DJ, Malak RJ (2013) Design and numerical analysis of an SMA mesh-based self-folding sheet. Smart Mater Struct 22:094008
Mekaouche A, Chapelle F, Balandraud X (2016) Using shape memory alloys to obtain variable compliance maps of a flexible structure: concept and modeling. Meccanica 51:1287–1299
Benafan O, Gaydosh DJ (2017) High temperature shape memory alloy Ni50.3Ti29.7Hf20 torque tube actuators. Smart Mater Struct 26:095002
Micheletti A, dos Santos FA, Sittner P (2018) Superelastic tensegrities: matrix formulation and antagonistic actuation. Smart Mater Struct 27:105028
Gédouin P-A, Pino L, Chirani SA et al (2019) R-phase shape memory alloy helical spring based actuators: modeling and experiments. Sens Actuators Phys 289:65–76
Shi ZC, Al Hajjar H, Prelle C, Liu XX, Ilou L, Lamarque F (2018) Optimization of an optically controlled bistable micro-actuator. In: IEEE ASME international conference on advanced intelligent mechatronics (AIM). IEEE, pp 1148–1153. https://doi.org/10.1109/AIM.2018.8452374
Yuan H, Chapelle F, Fauroux JC, Balandraud X (2018) Concept for a 3D-printed soft rotary actuator driven by a shape-memory alloy. Smart Mater Struct 27:055005
White TD, Hartl DJ (2019) Exploration of static equilibrium in elastically biased shape memory alloy components. In: Naguib HE (ed) Behavior and mechanics of multifunctional materials XIII. International Society for Optics and Photonics, p 109680B. https://doi.org/10.1117/12.2514343
Moallem M, Tabrizi VA (2008) Tracking control of an antagonistic shape memory alloy actuator pair. IEEE Trans Control Syst Technol 17:184–190
Sofla AYN, Elzey DM, Wadley HNG (2008) Two-way antagonistic shape actuation based on the one-way shape memory effect. J Intell Mater Syst Struct 19:1017–1027
Zhang K, Qiu C, Dai JS (2015) Helical kirigami-enabled centimeter-scale worm robot with shape-memory-alloy linear actuators. J Mech Robot 7:021014
Kciuk M, Kuchcik W, Pilch Z, Klein W (2019) A novel SMA drive based on the Graham Clock escapement and resistance feedback. Sens Actuators Phys 285:406–413
Moghadam MH, Zakerzadeh MR, Ayati M (2019) Robust sliding mode position control of a fast response SMA-actuated rotary actuator using temperature and strain feedback. Sens Actuators Phys 292:158–168
Sreekumar M, Nagarajan T, Singaperumal M (2009) Application of trained NiTi SMA actuators in a spatial compliant mechanism: experimental investigations. Mater Des 30:3020–3029
Salerno M, Zhang K, Menciassi A, Dai JS (2016) A novel 4-DOF origami grasper with an SMA-actuation system for minimally invasive surgery. IEEE Trans Robot 32:484–498
Rodrigue H, Wang W, Bhandari B et al (2015) SMA-based smart soft composite structure capable of multiple modes of actuation. Compos Part B Eng 82:152–158
White EL, Case JC, Kramer-Bottiglio R (2017) A soft parallel kinematic mechanism. Soft Robot 5:36–53
Mollaei M, Mascaro S (2013) Optimal control algorithm for multi-input binary-segmented SMA actuators applied to a multi-DOF robot manipulator. In: Proceedings of the ASME 2013 dynamic systems and control conference DSCC2013 October 21–23, 2013, Palo Alto, California, USA. https://doi.org/10.1115/DSCC2013-4094
Auricchio F (2001) A robust integration-algorithm for a finite-strain shape-memory-alloy superelastic model. Int J Plast 17:971–990
Tran H, Balandraud X, Destrebecq JF (2015) Improvement of the mechanical performances of concrete cylinders confined actively or passively by means of SMA wires. Arch Civ Mech Eng 15:292–299
Heller L, Sittner P, Sedlak P, Seiner H, Tyc O, Kaderavek L, Sedmak P, Vronka M (2019) Beyond the strain recoverability of martensitic transformation in NiTi. Int J Plast 116:232–264
Mekaouche A, Chapelle F, Balandraud X (2015) FEM-based generation of stiffness maps. IEEE Trans Robot 31:217–222
Merlet JP (2013) Wire-driven parallel robot: open issues. In: Padois V, Bidaud P, Khatib O (Eds.) Romansy 19–robot design, dynamics and control. CISM International Centre for Mechanical Sciences, vol 544. Springer, Vienna. DOI: 10.1007/978–3–7091–1379–0_1
Jin M, Zhang X (2016) A new topology optimization method for planar compliant parallel mechanisms. Mech Mach Theory 95:42–58
Funding
No funding received.
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
The authors declare that they have no conflict of interest.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Boufayed, R., Chapelle, F., Destrebecq, J.F. et al. Finite element analysis of a prestressed mechanism with multi-antagonistic and hysteretic SMA actuation. Meccanica 55, 1007–1024 (2020). https://doi.org/10.1007/s11012-020-01155-9
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11012-020-01155-9