Smart soft composite actuator with shape retention capability using embedded fusible alloy structures

This work presents a new kind of shape memory alloy (SMA) based composite actuators that can retain its shape in multiple configurations without continuous energy consumption by changing locally between a high-stiffness and a low-stiffness state. This was accomplished by embedding fusible alloy (FA) material, Ni-chrome (Ni–Cr) wires and SMA wires in a smart soft composite (SSC) structure. The soft morphing capability of SMA-based SSC structures allows the actuator to produce a smooth continuous deformation. The stiffness variation of the actuator was accomplished by melting the embedded FA structures using Ni–Cr wires embedded in the FA structure. First, the design and manufacturing method of the actuator are described. Then, the stiffness of the structure in the low and high-stiffness states of the actuator were measured for different applied currents and heating durations of the FA structure and results show that the highest stiffness of the actuator is more than eight times that of its lowest stiffness. The different shape retention capability of the actuator were tested using actuators with one or two segments and these were compared with a numerical model.     

Investigation on ferromagnetic shape memory alloys

Ferromagnetic shape memory alloys, exhibiting large recoverable strain and rapid frequency response, appear to be promising shape memory actuator material. These materials exhibit large shape memory effect associating with martensitic transformation, and magnetic-field-induced strain in the martensite state. The recent development in researches on NiMnGa, NiFeGa, and CoNiGa in our group is briefly reviewed. The perspectives of the ferromagnetic shape memory alloy are also described.     

具有分数阶形状记忆合金系统的时滞反馈控制与稳定性分析

将分数阶引入到形状记忆合金振子模型中,针对分数阶对其系统动力学的影响进行了研究。首先基于分数阶微分方程理论,构建了分数阶形状记忆合金系统,并给出了该系统的稳定性和Hopf分岔存在性条件。其次,设计了时滞反馈控制器,用来控制分数阶形状记忆合金系统的稳定性。研究结果表明,形状记忆合金系统中的时滞和分数阶对系统的动力学性质有着重要的调控作用。     

基于视觉的微机器人结肠镜运动导航

设计出一种用形状记忆合金驱动的头部转动机构和一种基于视觉的控制算法,用其进行了微机器人结肠镜在肠道内的自主导航研究.建立了转动机构模型,推导出记忆合金弹簧位移和偏转角度之间的关系.针对人体腔道内图像特点,使用腐蚀生长法找到腔道中心,反推出头舱的偏转角度和记忆合金弹簧位移.基于Preisach模型,提出了记忆合金驱动的前馈控制算法,进行了数字仿真和猪大肠内离体试验.结果表明,控制算法偏转误差小于2.6°,具有良好的实时性.该系统灵活可靠、控制方便,为主动式无创诊疗内窥镜的临床应用奠定了基础.     

热电激励形状记忆智能材料研究进展

利用热电材料TeM(Thermoelectric Material)的Peltier效应对SMA(Shpe Memory Alloy)实行快速冷却,可以大大提高形状记忆合金SMA的响应频率.分析比较了当前几种TeM-SMA的理论模型和实验结果,讨论了提高响应频率的方法,指出了有价值的研究内容.     

Motion perception at scotopic light levels

Although the spatial and temporal properties of rod-mediated vision have been extensively characterized, little is known about scotopic motion perception. To provide such information, we determined thresholds for the detection and identification of the direction of motion of sinusoidal grating patches moving at speeds from 1 to 32 deg/s, under scotopic light levels, in four different types of observers: three normals, a rod monochromat (who lacks all cone vision), an S-cone monochromat (who lacks M- and L-cone vision), and four deuteranopes (who lack M-cone vision). The deuteranopes, whose motion perception does not differ from that of normals, allowed us to measure rod and L-cone thresholds under silent substitution conditions and to compare directly the perceived velocity for moving stimuli detected by either rod or cone vision at the same light level. We find, for rod as for cone vision, that the direction of motion can be reliably identified very near to detection threshold. In contrast, the perceived velocity of rod-mediated stimuli is reduced by approximately 20% relative to cone-mediated stimuli at temporal frequencies below 4 Hz and at all intensity levels investigated (0.92 to -1.12 log cd m(-2)). Most likely, the difference in velocity perception is distal in origin because rod and cone signals converge in the retina and further processing of their combined signals in the visual cortex is presumably identical. To account for the difference, we propose a model of velocity, in which the greater temporal averaging of rod signals in the retina leads to an attenuation of the motion signal in the detectors tuned to high velocities.     

Experimental study on control fins of a small flying vehicle using piezo-composite actuators

A camber morphing control fin design and an all-moving control fin design using piezo-composite unimorph actuators are presented in this paper. The control fin of a small flying object is usually actuated using a servo motor system with an electromagnetic motor. Much research has been conducted to solve the structural complexity of servo actuation systems to convert the rotation of a servo motor to a linear actuation motion. To simplify this structural complexity, several types of smart actuators have been developed, such as bimorph or unimorph actuators with piezoelectric material layers and shape memory alloy actuators. In this study, a camber morphing type control fin and an all-moving type control fin actuated using piezo-composite actuators are designed to evaluate their ability to simplify the structural complexity of the gear transmission and electromagnetic servo motor system or hydraulic actuator system. Within the skin of the control fin, a piezo-composite actuator is mounted and the other end inserted in a slot of the control fin. As the piezo-composite actuator is excited by an electric field, the pitch angle of the control fin is changed. Experimental testing for the pitch rotation angle of a control fin in a 450 V electric field showed the deflection angle of the camber morphing control fin was 1.4° and the rotational angle of the all-moving control fin was 5.4°, which is obtained from the rotation angle magnification linkage structural system.     

Modulated interaction in double-layer shape memory-based micro-designed actuators

The effect of superposed transitions in actuators with layered shape memory alloy (SMA) films undergoing martensitic phase transformation is analyzed in terms of a model developed for two layers of different composition, deposited at the same temperature on a substrate. A significant difference is observed in the actuation versus temperature relationship, depending on the thermal and elastic properties of the SMA layers and their martensitic transformation temperature. The prediction of the actuation is exemplified using a multilayer model and is verified for a cantilever actuator with NiTi and NiMnGa layers deposited on a Si substrate. The model sets the ground for a smart selection of SMAs in order to achieve a modulated actuation.     

Applications of titanium-nickel shape memory alloys

The shape memory alloy based on the TiNi phase has given rise to a wide range of commercially viable products. Two applications are described which illustrate the different ways in which shape memory can be used in an industrial product. In one of these, the change in shape is prevented so that the shape memory tubular element can be used as a mechanical coupling to join two pipes together securely. Such couplings have replaced welding in hydraulic lines in aircraft and ships and in the repair of undersea pipe lines.The other application demonstrates the use of a tubular shape memory element in torsion to operate a boom latch and release mechanism for the deployment of the booms on a space satellite. It is shown that a shape memory alloy can satisfy a tight and exacting specification in operating as an actuator.     

基于SMA的仿昆虫蠕动微型车

介绍了一种形状记忆合金驱动的微型轮式蠕动机器人。它采用轮式移动结构，重点分析了刚／弹耦合式SMA驱动器和轮式移动机构的设计。微型机器人采用刚／弹耦合式SMA驱动器仿生蠕动输出力和位移，刚／弹耦合机构显著增大了微型机器人的前进步距，车轮逆向锁定机构控制了运动方向，确保了车轮滚动前进，实现了较高速度的运动。     

Development and characterization of active nanocomposites with embedded shape memory alloy wires

Active nanocomposites of epoxy resin containing bentonite clay and shape memory alloy (SMA) were made to evaluate the thermomechanical behavior in the range of phase transformation of shape memory alloy during heating. The epoxy resin system studied was prepared using bifunctional diglycidyl ether of bisphenol A (DGEBA), crosslinking agent diaminodiphenylsulfone (DDS), purified bentonite organoclay (APOC) and thin Ni‐Ti shape memory alloy wires. The evaluated ratio DGEBA/DDS was 100:40, for the epoxy resin/clay system was 100:1 and the shape memory alloy volumetric fraction of Ni‐Ti wires were 1.55%; 2.56%; 3.57% and 4.54%. The formation of nanocomposite was confirmed by X‐ray diffraction analysis. Phase transformation of the shape memory alloy wires were determined by differential scanning calorimetry (DSC). Specimens of the active nanocomposites were characterized mainly by dynamic mechanical analysis (DMA). According to the DMA results was evidenced a significant increase in glass transition temperature and storage modulus when 1 parts per hundred resin of clay is added to epoxy resin. A recover of storage modulus was observed in the active nanocomposite during heating in the range of the phase transformation of Ni‐Ti shape memory alloy wires when the volumetric fraction is above 3.5%.     

Modulated interaction in double-layer shape memory-based micro-designed actuators

Abstract

The effect of superposed transitions in actuators with layered shape memory alloy (SMA) films undergoing martensitic phase transformation is analyzed in terms of a model developed for two layers of different composition, deposited at the same temperature on a substrate. A significant difference is observed in the actuation versus temperature relationship, depending on the thermal and elastic properties of the SMA layers and their martensitic transformation temperature. The prediction of the actuation is exemplified using a multilayer model and is verified for a cantilever actuator with NiTi and NiMnGa layers deposited on a Si substrate. The model sets the ground for a smart selection of SMAs in order to achieve a modulated actuation.     

2D Arrays of Soft Actuators Performing Out-of-Plane Local Inflation for Shape Displays

Elementary actuators performing branching or surface swelling are the primary units in the actuator integration system that is leveraged in works requiring a high versatility and complex motion. However, those primary actuator units often lack scalability or compatibility at assembly into a compact form due to the complexity of the structure and the actuation interference between adjacent units. Herein, it is shown that the phase-change actuator in a simple bilayer structure of a top active layer and a bottom constraint layer achieves 1D surface swelling, such that the closely packed 2D array system of this actuator is easily constructed. Upon resistive heating, the active layer inflates based on the phase change of microliquid droplets embedded in an elastomer body. The inflation along the lateral direction of the actuator is suppressed by controlling the thickness ratio between the active and the constraint layers. The actuation of individual units in the array system is performed independently using a switching device with a microcontroller for the parallel application of resistive heating. The application of 2D shape morphing of the actuator arrays in beam steering and shape displays is investigated.     

Cylindrical film deposition system for three-dimensional titanium-nickel shape memory alloy microstructure

We have designed and developed a sputtering deposition apparatus to fabricate a cylindrical spring-like microstructure for a titanium-nickel (Ti-Ni) shape memory alloy (SMA) film-actuated micro-catheter. The developed apparatus that mainly consists of gearboxes to transform rotation of a stage into rotation of a shaft specimen is mounted on a ternary-source sputtering system. By using this system, a Ti-Ni SMA film with the controlled composition has been successfully deposited around a copper (Cu) shaft surface and the annealed film has possessed the shape memory characteristics evaluated by X-ray diffraction (XRD). A spring shape of the film has been capably patterned by photolithography and wet etching, so the developed deposition apparatus with a specimen rotation unit would be useful for fabricating a three-dimensional (3D) microstructure towards the active micro-catheter.     

基于Preisach理论的形状记忆合金温度-位移迟滞仿真研究

摘 要：智能材料如形状记忆合金(Shape Memory Alloy,SMA)已经广泛应用于驱动器和传感器的设计,实现定位和主动控制目的。然而,受迟滞影响,SMA驱动器的工作精度大大降低,限制了其应用。多数智能材料中,选择Preisach理论成为迟滞建模工具,近年来,也涉及到SMA材料系统。本文,讨论运用Preisach模型描述SMA驱动器系统的迟滞行为,尤其针对驱动器系统的模型建立过程,修正经典Preisach模型的几何解释和数值实现方法。最后,引入Gobert给出的Preisach平面的辨识函数执行仿真计算,数值结果表明该模型能够很好地描述SMA驱动器的迟滞行为。     

新型形状记忆合金驱动器与三指灵巧手设计

针对现有形状记忆合金（shape memory alloy,SMA）温度反馈控制难以实现及SMA应变量小导致实际应用中存在驱动位移小的问题,提出了一种基于电阻反馈控制的新型SMA驱动器,并采用这种驱动器研发了一种绳索传动的三指灵巧手。新型SMA驱动器由滑轮、空心螺柱、SMA丝和弹簧拉伸装置等组成,通过采用滑轮绕线的方式增长SMA丝的使用长度以提高驱动位移输出量;利用SMA自身的电阻特性得到SMA电阻变化与相变的关系,设计了基于电阻反馈的开关控制系统;采用模块化思想设计了三指灵巧手,3根手指共有8个自由度,并通过实验验证三指灵巧手对物品的抓取能力。结果表明：新型SMA驱动器不需要通过测温来判断SMA丝相变进程,省去了外部温度传感器;SMA驱动器输出的驱动量可达驱动器总长的8%以上;通过监测SMA丝的电阻变化可实现驱动器通电加热的控制,防止SMA丝过热烧毁。研究结果为提高SMA驱动器驱动位移和降低SMA驱动器控制难度提供了一种思路。     

记忆合金驱动的感温自动闭门器的研制

 为实现消防门在缺电状态下自动感应火场温度并关闭,达到隔烟阻燃的目的,研制了记忆合金驱动的感温自动闭门器,具有全机械传感和驱动的特点,无电耗,寿命长,灵活可靠.基于偏动式记忆合金驱动器原理,针对普通闭门器的连杆机构,通过几何解析和力学分析,提出了一种新型的自动锁闭、解锁装置.根据感应温度范围的要求和锁紧、解锁载荷的计算,选用窄滞环记忆合金并确定了偏动弹簧和记忆合金弹簧的设计参数.通过试验验证,所研制的闭门器达到了灵敏度高、可靠性好的要求.     

SMA-based smart soft composite structure capable of multiple modes of actuation

This paper introduces the design of a smart soft composite (SSC) actuator capable of multiple modes of actuation. This actuator combines four shape memory alloy (SMA) wires embedded in a soft matrix where one or two SMA wires can be activated to induce the actuator into either the bending mode, the twisting mode or the combined bending and twisting mode of actuation. Experimental results for actuators of different lengths were obtained for all modes of actuation and the actuator is capable of large deformations in all modes and directions of actuation. Then a simple FEA model was used to predict the range of deformation for different lengths in the different modes of actuation. This model is able to predict accurately the bending and twisting angles of the actuator for the different modes of actuation. The 120 mm actuator is capable of deformations up to approximately 160° in both the pure bending and pure twisting modes and of approximately 80° for both twisting and bending in the combined twisting and bending mode of actuation.     

内窥检查系统主动引导驱动技术的研究

提出一种医用内窥检查系统的主动引导驱动装置，由蠕动式柔性移动机构和基于形状记忆合金的转向机构组成。蠕动式柔性移动机构通过充气气体的膨胀橡胶囊与腔道壁接触，因而具有较好的柔软性；采用通电调节形状记忆合金元件的方法，可改变转向机构弯曲角度，以适应腔道的变化。