Large displacement static analysis of a fully compliant spatial mechanism is presented here. This mechanism is made up of a superelastic nitinol pipe as its compliant structural member and actuated by three shape memory alloy (SMA) wires. The coupled effect of the force developed by the SMA actuation and the force required for elastica deflection is simplified by incorporating the geometric parameters of the mechanism using a deflection plane approach. An iterative algorithm with elliptical integration has been developed, which is suitable for a wider range of actual and arbitrary inputs. The solutions are obtained for the effect of one-wire and two-wire actuation methods. Results obtained from the deflection plane approach and simulation have been compared and found that the relative error is less than 1% within the safe operating range of 5% strain value recommended for SMA actuators. Based on the analytical and simulation inputs, the mechanism is miniaturized further with the aim of increasing its workspace and is fabricated for further experimental investigations.
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e-mail: msk@iiitdm.ac.in msk_iitm2004@yahoo.co.in
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June 2009
Research Papers
Design of a Shape Memory Alloy Actuated Compliant Smart Structure: Elastica Approach
M. Sreekumar,
M. Sreekumar
Department of Mechanical Engineering, Precision Engineering and Instrumentation Laboratory,
e-mail: msk@iiitdm.ac.in msk_iitm2004@yahoo.co.in
Indian Institute of Technology Madras
, Chennai-600 036, India
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T. Nagarajan,
T. Nagarajan
Department of Mechanical Engineering, Precision Engineering and Instrumentation Laboratory,
e-mail: tnaga@iitm.ac.in
Indian Institute of Technology Madras
, Chennai-600 036, India
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M. Singaperumal
M. Singaperumal
Department of Mechanical Engineering, Precision Engineering and Instrumentation Laboratory,
e-mail: msingam@iitm.ac.in
Indian Institute of Technology Madras
, Chennai-600 036, India
Search for other works by this author on:
M. Sreekumar
Department of Mechanical Engineering, Precision Engineering and Instrumentation Laboratory,
Indian Institute of Technology Madras
, Chennai-600 036, Indiae-mail: msk@iiitdm.ac.in msk_iitm2004@yahoo.co.in
T. Nagarajan
Department of Mechanical Engineering, Precision Engineering and Instrumentation Laboratory,
Indian Institute of Technology Madras
, Chennai-600 036, Indiae-mail: tnaga@iitm.ac.in
M. Singaperumal
Department of Mechanical Engineering, Precision Engineering and Instrumentation Laboratory,
Indian Institute of Technology Madras
, Chennai-600 036, Indiae-mail: msingam@iitm.ac.in
J. Mech. Des. Jun 2009, 131(6): 061008 (11 pages)
Published Online: May 21, 2009
Article history
Received:
September 24, 2007
Revised:
March 26, 2009
Published:
May 21, 2009
Citation
Sreekumar, M., Nagarajan, T., and Singaperumal, M. (May 21, 2009). "Design of a Shape Memory Alloy Actuated Compliant Smart Structure: Elastica Approach." ASME. J. Mech. Des. June 2009; 131(6): 061008. https://doi.org/10.1115/1.3125202
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