NDLI: Transient Thermodynamic Modelling and Experimental Validation of an Antagonistic SMA Actuator

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Pathak, Anupam Brei, Diann Luntz, Jonathan
Copyright Year	2008
Abstract	Modern developments in Shape Memory Alloys (SMA) has positioned the material as an attractive alternative actuation for high yield, low cost industries which stand to benefit from the materials simple form, light weight, and high energy densities. However, the speed and predictability still remain as a barrier to its acceptance and usage. The robotics community has shown promising results with antagonistic actuation architectures to increase the cyclic speed and produce controlled motions; however, such control-based approaches generally require sensing and feedback implementations and tuning that are undesirable for high production products. This paper presents a simple but effective physically-based thermodynamic model for generic antagonistic actuation architecture. The model is derived from three sets of equations: differential equations describing the thermomechanical phase transformation behavior of the material, compatibility equations specific to the antagonistic configuration relating stresses and strains in the two wires to each other, and heat transfer equations involving the thermal properties of both the environment and the wire material. This model takes into consideration several key-aspects of real devices such as the wires becoming slack or localalized boiling conditions. This model was experimentally validated and studied under a range of conditions including variations in driving frequency (0.3–10 Hz), duty cycle (10%–45%), amplitude (50%–100% transformation), and wire diameter (8–20 mil). The correlation over these widely varying conditions indicates the model’s accuracy and potential for use in the design process of future antagonistic actuators and their controllers for industrial applications.
Sponsorship	Aerospace Division
Starting Page	803
Ending Page	814
Page Count	12
File Format	PDF
ISBN	9780791843314
DOI	10.1115/SMASIS2008-520
e-ISBN	9780791838396
Volume Number	Smart Materials, Adaptive Structures and Intelligent Systems, Volume 1
Conference Proceedings	ASME 2008 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
Language	English
Publisher Date	2008-10-28
Publisher Place	Ellicott City, Maryland, USA
Access Restriction	Subscribed
Subject Keyword	Actuators Cycles Shape memory alloys Architecture Control equipment Wire Modeling Boiling Phase transitions Robotics Stress Transients (dynamics) Thermomechanics Design Thermal properties Feedback Weight (mass) Differential equations Heat transfer
Content Type	Text
Resource Type	Article

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