Shape Memory Alloy Monolithic Micro-Meso Scale Manipulator
Conceptual design, manufacturing, modeling
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The need for low-cost robust meso-scale smart robots (manipulators) that have no discrete parts (monolithic), no sensors ( self-sensing ) and can be used in space-constrained systems, e.g., in microfactories, biomedical applications, etc., was the motivation for the current research. This study describes the design, fabrication and analysis of such a smart robot a monolithic Micro/Meso Scale Manipulator (mMM), fabricated from Shape Memory Alloy powders (NiTi) by means of the laser-based Direct Metal Deposition (DMD) process.A first prototype, a functional part of the mMM a SMA accordion spring...
The need for low-cost robust meso-scale smart
robots (manipulators) that have no discrete parts
(monolithic), no sensors ( self-sensing ) and can be
used in space-constrained systems, e.g., in
microfactories, biomedical applications, etc., was
the motivation for the current research. This study
describes the design, fabrication and analysis of
such a smart robot a monolithic Micro/Meso Scale
Manipulator (mMM), fabricated from Shape Memory
Alloy powders (NiTi) by means of the laser-based
Direct Metal Deposition (DMD) process.A first
prototype, a functional part of the mMM a SMA
accordion spring type actuator was manufactured by
DMD. The actuator provides a linear movement for the
mMM due to the Shape Memory Effect (SME) property of
SMAs. A new mathematical model describing the phase
transformation kinetics in SMAs and a new analytical
phase transformation function was developed. In the
current work a self-sensing concept was explored
and evaluated in an SMA wire actuator and applied to
the SMA spring based actuator. A new mathematical
model of the motion of the SMA wire- and spring-
based actuators was developed.
robots (manipulators) that have no discrete parts
(monolithic), no sensors ( self-sensing ) and can be
used in space-constrained systems, e.g., in
microfactories, biomedical applications, etc., was
the motivation for the current research. This study
describes the design, fabrication and analysis of
such a smart robot a monolithic Micro/Meso Scale
Manipulator (mMM), fabricated from Shape Memory
Alloy powders (NiTi) by means of the laser-based
Direct Metal Deposition (DMD) process.A first
prototype, a functional part of the mMM a SMA
accordion spring type actuator was manufactured by
DMD. The actuator provides a linear movement for the
mMM due to the Shape Memory Effect (SME) property of
SMAs. A new mathematical model describing the phase
transformation kinetics in SMAs and a new analytical
phase transformation function was developed. In the
current work a self-sensing concept was explored
and evaluated in an SMA wire actuator and applied to
the SMA spring based actuator. A new mathematical
model of the motion of the SMA wire- and spring-
based actuators was developed.
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