2.reveiw - Smart Part1

Control of Smart Structures
2. Review of Smart Materials and Structures (Part 1)
2. Review of Smart Materials and Structures (part 1)

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Base Bay
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LPACT
Power Amplifier
Torsional Spring Rotor with SMA Wire
Power Supply for RVIT
RVIT Sensor
Department of Mechanical Engineering Dr. G. Song, Associate Professor
2.1 What are Smart Materials

No official definition. A lot of names: intelligent materials, adaptive materials, among others. Smart materials refer to the materials that are "responsive". Often the response is the conversion of one form of energy into another in useful quantities. For example, piezoelectric ceramic material will generate voltage when it is subjected to strain. Commonly used smart materials include piezoelectric ceramics, shape memory alloy, magneto-rheological or MR fluids, electro-rheological or ER fluids, and fiber Bragg Grating optics.
Some Examples of Smart Materials
SMA Springs
SMA Rods
SMA Thin Wire
PZT Patches
Flexible Piezo Actuator
Piezos
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Types of Smart Materials

Electric Field Magnetic Field Thermal Energy Light Chemical Energy
Actuation
Piezoceramics Magnetostrictors Piezopolymers Magnetorheological Electrostrictors Electrorheological (MR) fluids (ER) fluids
Shape memory alloys, ceramics, Polymers, Mechanocalories
Special gels Photostrictors Mechanophotochemics Mechanochemics Ionic polymeric gels
mechanical force, displacement

Piezoceramics
Sensing
Piezopolymers Electrostrictors Electrorheological (ER) fluids

Resistance Capacity charge
Magnetostrictors Magnetorheological (MR) Fluids

Resistance Inductance
Shape memory alloys, ceramics, polymers
Fiber optical sensors
Ionic polymeric gels
Resistance
Light intensity
Concentration pH
Comparison of Smart Material Actuators

PZT-5H PVDF PMN Terfenol D Nitinol
Actuator Type
Piezoceramics
Piezo Polymer Film
Electrostrictive
Magnetostrictive
Shape Memory Alloy
Max Free Strain Micro Strain
1000
700
1000
2000
80000 (single cycle) 50000 (many cycles)
Modulus 10^6 psi
10
.3
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4 (Martensite) 13 (Austenite)
Bandwidth
High
High
High
Moderate
Low
Linearity
Linear
Linear
Nonlinear
Nonlinear
Nonlinear
2.2 What are Smart Structures

No official definition. Even more names: intelligent structures, multifunctional structures, adaptive structures, adaptronics, etc. Smart structures refer to the structures that employ embedded actuators and sensors, and microprocessors that analyze the responses from the sensors and use control theory to command the actuators to apply localized strains to insure the system respond in a desired fashion. The actuators and sensor are often made of smart materials. Smart structures have the capability to respond to a changing external environment (such as loads or shape change) as well as to a changing internal environment (such as damage or failure). Smart actuators are used to alter system characteristics (such as stiffness or damping) as well as of system response (such as strain or shape) in a controlled manner.
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Smart Structures: Example 1 An SMA Linear Actuator

Position Control of an SMA Actuator under a Constant Load
Linear Bearing
Linear Variable Differential Transformer (LVDT) Sensor

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Position Control of an SMA Actuator under a Constant Load Experimental Results

Open Loop Testing
Position (cm) Vs Voltage (V) 4.5 4 3.5
With PD Control
Position(mm) 5 0 -5 -10 Red = Desired Position, Blue = Actual Position
3 Position(cm) 2.5 2 1.5 1 0.5 0
Position(mm)
-15 -20 -25 -30 -35 -40 -45 0 5 10 15 Time(sec) 20 25 30
5 Voltage (V)
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Smart Structures: Example 2 An SMA Rotary Servo

The Rotary SMA Servo
Nickel-Titanium SMA wire (73.66cm in length, 0.381 mm in diameter). dSPACE Data Acquisition and Real Time Control system
Power Amplifier
RVIT Sensor
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Achieving Two-Way Rotary Motion with a SMA Wire and a Biasing (steel) Spring
Power Amplifier
RVIT Sensor
A programmable current amplifier is used to power the SMA wire. To study the forced cooling effect on the SMA actuator, a cooling fan is installed underneath the rotor. A Rotary Variable Inductance Transformer (RVIT) is used to measure the wire displacement. Department of Mechanical Engineering Dr. G. Song, Associate Professor
By utilizing SMAs shape memory property, a rotary servo actuated by a Nitinol type SMA wire is designed and fabricated. An SMA wire winds along the thread on the rotor. One end of the SMA wire is fixed to base plate and the other end is fixed to rotor. The rotor is connected with a torsional spring with pre-tension. The rotor has a diameter of 1.15 inch. The Nitinol wire has a diameter of 0.015 inch and a total length of 29 inch. It is obvious that this rotor design is a space-saving solution for using SMA wire actuators. Upon heating of the SMA wire using electric current, the wire contracts and rotates the rotor since the other end of the SMA wire is rigidly connected to the base plate. During this process, the torsional spring will be loaded. Upon cooling, the torsional spring will return the rotor to its original position and the SMA wire returns to its original length.
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The Control Block Diagram

Torsional Spring Rotor with SMA Wire Flexible Coupling
RVIT Sensor
Amplified Command Signal
Feedback Signal Bias
Command
KD
t
Low Pass Filter
Robust Comp.
R Gain
Saturation
Real-Time Control System
Programmable Power Supply
Command Signal
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EXPERIMENTAL RESULTS
Experiment: the rotor is instructed to rotate from its initial position of 39.5 degree to 60 degree and then return to 0 degree.
position(mm) 70 60 50 Angular Position (degree) 40 30 20 10 0 -10 -20 -30 -40 Time (second) Angular position with robust control (Desired and actual position) 0 10 20 30 40 50 60 Desired Position Actual Position
Robust Control
Steady state error = .2 degree at 60 degree and .1 degree at 0 degree
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Comparison of Angular Positions with and without Cooling (PD control)
0 -5 -10 Angular Position (degree) -15 -20 -25 -30 -35 -40 -45 0 20 40 60 Time (second) 80 100 120 Desired Position W ith Cooling W ithout Cooling
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Example3 A cantilevered beam with piezo sensors and actuators..

Sensor Signal Sensor Signal Cantilevered Flexible Beam Piezo Actuator Piezo Sensor PC with Data Acquisition & Real Time Control System Actuating Signal
Power Amplifier
Oscilloscope
Example 4 Active vibration control of a composite I-beam.
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Use Piezoceramic Patch as an Actuator
Direction of Polarity
No Voltage
Applied Voltage opposite polarity (a) Beam being bent upwards (b) No bending
Applied Voltage same as polarity (c) Beam being bent downwards
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Use Piezoceramic Patch as a Sensor
Voltage generated same as polarity
No voltage generated
Voltage generated opposite polarity
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Example 4: Strain Measurement using Fiber Bragg Grating Optic Sensor
Bragg gratings
Optical fiber
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About Fiber Bragg Grating Optic Sensor

Principle: Write a grating on fiber by constructively interfering two high power lasers. This corrugates index of refraction at a known wavelength. Project broad band light down the fiber. Light at a Bragg wavelength proportional to grating spacing is partially reflected: =2 n. If the fiber grating is strained, the Bragg wavelength of reflected light changes slightly. /= ~0.74 By detecting frequency shifts in reflected power spectrum, one can infer strains in the grating region. Detectable resolution ~6 nano-stains.
Coherent UV beams
Writing Grating With Pulsed Excimer Laser
UV interference pattern
Holographically Induced index Modulation ( grating)
II O
IR Fiber core Period ()
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Experimental Results
Sensor Output When the Beam Vibrates
Sensor Output When Beam Is Subjected to a Constant Strain
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Example 5: Vibration Isolation using an Ultra Quiet Platform

Signal Conditioner Geophone Sensor Outputs
A/D Converter
Lowpass Filter (Anti-Aliasing)
Vibration Controller for Each Strut
D/A Converter
dSpace Real Time Data Acquisition and Control
Trek 50/750 Power Amp.
Piezoelectric Actuator Inputs
Bias Voltage
Disturbance Vibration Caused by Shaker
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Example 6: Beam Shape Control using Embedded Shape Memory Alloy Wires
Programmable power supply DC power supply for manual control Power supply for laser range sensor Oscilloscope
Composite beam with embedded SMA wires
Laser range sensor
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30.48 cm
5.08cm
Shape memory composite beam

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Laser Range Sensor
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Composite Beam with Embedded Shape Memory Alloy (SMA) Wires
Signal Conditioner
Command
Feedforward Term
SMA beam control strategy along with the experimental setup

Current
e
t
KD
Low Pass Filter
Robust Compensator
R Gain
Real Time Control System
Saturation
Programmable Current/Voltage Amp.
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9 8.5 8 B eam Tip P os ition (m m ) Des ired P os ition 7.5 7 6.5 6 5.5 5 4.5 4 -50 0 50 100 150 200 250 tim e (s ) 300 350 400 450 500 B eam Tip Res pons e P gain= 20, D gain= 20, Robus t gain = 10
Tip position control of the composite beam with robust compensation

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2.3 Shape Memory Alloy Materials

Shape Memory Alloys (SMA's) are novel metal materials which have the ability to return to a predetermined shape when heated. When an SMA is cold, or below its transformation temperature, it has a very low yield strength and can be deformed quite easily into any new shape. However, when the material is heated above its transformation temperature it undergoes a change in crystal structure which causes it to return to its original shape. If the SMA encounters any resistance during this transformation, it can generate extremely large forces. This phenomenon provides a unique mechanism for remote actuation. For example, the SMA spring shown in the figures can be easily elongated when it is cold, but the SMA spring returns to its original shape once heated.
SMA Spring After being Elongated at Cold
SMA Spring After being heated
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How SMA Works

Shape Memory Effect (SME) (One Way)
The shape memory effect is a unique property of certain alloys exhibiting martensitic transformations. These materials can be deformed in the low temperature phase, and they will recover their original shape by the reverse transformation upon heating to a critical temperature called the reverse transformation temperature. This shape change is due to a change in the atomic crystal structure of the alloy.
High Temperature
Cool
SMA Spring
Heat
Deform Force
Deformed SMA Spring
Remove Force Force

Deformed SMA Spring
One Way Shape Memory Effect of a SMA Spring.
Low Temperature
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How SMA Works (cont)

Austenite and Martensite:
The high temperature crystal structure is called austenite and is cubic and strong. When cooled, the material transforms to a structure called martensite, with a monoclinic lattice structure which looks like a parallelogram in two dimensions and it is weak.
High Temperature
Cubic Structure - Austenite
Low Temperature
Structure - Martensite
Nitinol Crystal Structures: Austenite and Martensite
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Twinning Process:
When a piece of shape memory material containing many atoms is cooled below a transformation temperature, the atoms do not all tilt in the same direction. Instead, the atoms form alternating rows of atoms tilting either left or right (shown in the figure). Any four atoms in the low temperature structure have the martensite parallelogram shape. The alternating rows in the figure is called twinning, because the atoms form mirror images of themselves, or twins, through a plane of symmetry.
High Temperature Low Temperature Twinned Martensite
Twinning Process: Nitinol Atomic Rearrangement upon Cooling

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De-twinning Process:
When a stress is applied to the twinned low temperature SMA, the stress will deform, or accumulate strain, as the twins are reoriented so they all lie in the same direction. This is called de-twinning, and in shape memory alloys, the stress required to reorient twins is relatively low. This de-twinning process is shown in the figure.
As Cooled Force
Deformed by Applied Force
Force
De-twinning Process: Deformation of Low Temperature Nitinol Structure

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Return to Austenite Upon Heating Heating the material above a certain temperature will cause the deformed martensite to return to austenite and the original shape of the piece will be obtained. This occurs because the original atomic positions are always maintained in the austenite phase.
Cooling
Heating
High Temperature Austenite
Deform
Low Temperature Martensite Twinned Structure
Deformed Low Temperature Martensite Detwinned Structure
Phase Transformation of Nitinol Shape Memory Alloy
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Phase Transformation of the SMA Spring (Macro and Micro Views)
High Temperature
Cool
SMA Spring
Heat
Deform Force
Deformed SMA Spring
Remove Force Force

Deformed SMA Spring
Low Temperature
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Two-Way Shape Memory Effect (SME)

Deformation
One-Way SME
Heating Cooling
The one-way shape memory effect requires a force to deform the material while it is cool, but will recover its shape when heated.
Two-Way SME
Cooling
Heating
Two-way shape memory effect: the shape memory material will return to a low temperature shape on cooling, as well as to a high temperature shape on heating. But the recovery stress of a two-way SMA is much lower than that of a one-way SMA. In both the one-way and two-way shape memory effects, only during heating work can be generated. During cooling with the two-way effect, the material simply recovers its low temperature shape and cannot provide a force to external mechanical components. 32
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Transformation Hysteresis of SMAs

As
Heating Wire Contracts Cooling Wire Extends
Austenite Start
Transformation Hysteresis
100 Martensite %
Martensite Finish
Mf
Current
Length
Current
Current
Weight
Martensite Start
Austenite Finish
Af Ms
Shape Memory Alloy Wire Actuator
An SMA Wire Actuator
Temperature
Mf < Ms < As < Af

The phase transformation of SMAs exhibits hysteresis, i.e., transformations on heating and on cooling do not overlap. Hysteresis, a nonlinearity, adversely affect precision control of the structures activated by SMA actuators. To design control methods to compensate for the nonlinearities associated with SMA actuators poses a challenge for control engineers and researchers.
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Hysteresis of an SMA Wire Actuator

Experimental Setup

Current Amplifier Shape Memory Alloy Wire Actuator
Linear Bearing
Bia Spring LVDT Position Sensor
A Nickel-Titanium shape memory alloy wire (30.48 cm in length and 0.381 mm in diameter) is used. In this SMA test stand, the shape memory alloy wire is attached between two wire supports. One wire support is attached to a slider that is free to slide through a linear bearing. The slider is attached to a biasing spring which pretensions the shape memory alloy wire.
A programmable current amplifier is used to electrically heat the SMA wire. A linear variable differential transformer (LVDT) is placed aganst the slider to detect the actuators displacement. The electrical heating of the wire causes a phase transformation, which is seen as a contraction of the wire. The wires contraction places additional tension on the spring. Once the current is cut off and heat is removed, the bias spring will pull the SMA wire actuator back to its cold length.
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Motion Obtained by the SMA Wire Actuator

L1 SMA at low temperature. Stretch the wire at low temperature by the bias spring.
Remove force, new length at low Temperature. L2 L1 Apply heat, regain original length
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Applied Voltage and Current - Training Signal 4 .....Voltage 3.5 Voltage (volt) and Current (amp) 3 2.5 2 1.5 1 0.5 0 _____Current
Hysteresis Loop: The shape memory alloy wire is excited using a sinusoidal signal. Though input voltage is pure sinusoidal, the displacement is not. The hysteresis loops observed have an average width of 2 volts. The curves are not very smooth, and this can be attributed to the uncontrolled ambient conditions. The shape memory alloy wire actuator is not fully repeatable due to the uncontrolled ambient condition.
Displacement v/s Voltage 14
50
100
150 Time (sec)
200
250
300
The Applied Sinusoidal Voltage and Measured Current

Displacement - Training Signal 14
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12
10
10 Displacement (mm)
Displacement (mm)
Hysteresis Loops
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100
150 Time (sec)
200
250
300
0.5
1.5
2 2.5 Voltage (volt)
3.5
Displacement of the SMA Wire Actuator
Relationship between the Applied Voltage and Displacement
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Stress-Strain Relationship of SMA

The Stress-Strain relationship of shape memory alloys shows strong temperature dependence, because of the reversible Austenite to Martensite transformation. This figure shows the stress-strain relationship of a shape memory alloy at or below the Mf temperature. It is assumed that the SMA is cooled from the Austenite without applying stress.
OA: The initial curve segment represents elastic deformation and the microstructure consists of randomly oriented Martensite twins. A: Detwinning starts. At this point, the stress level is sufficient to start the twins to reorient according to the applied stress field. AB: Detwinning. The twins reorient until they all lie in the same crystallographic direction. B: Detwinning is complete at point. BC: The Martensite undergoes mostly elastic deformation again in segment BC. At point C: The stress level is sufficient to start plastic deformation of the Martensite. Beyond C: The shape memory effect is destroyed or severely diminished by plastic deformation of the Martensite. 37
Stress-strain Relationship at or below Mf
Plastic
Deformation
A Stress B
Detwinning
Elastic
Elastic
Region
O Strain
Region
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Md: temperature at which non-elastic deformation is due to slip (plastic yielding) at stress induced Martensite.
Stress-strain Relationship above Af below Md
C
O: The material is fully austenitic. OA: Elastic deformation.

Plastic
Deformation
A B
Stress
Stress induced Martensite
A: Martensite begins to form from the austenite, this material is referred to as stress induced martensite. AB: Stress induced Martensite.. BC: Represents elastic deformation. C: Plastic deformation starts to occur.
Elastic
Elastic
Region
O Strain
Region
AB: When the material is unloaded in this segment with stress induced Martensite, the Martensite becomes unstable and the material returns to austenite and its original shape. The material can experience 8% of strain change. Superelasticity occurs.
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At temperatures above Md, non-elastic deformation is entirely due to plastic yielding, and no stress induced Martensite is formed.
Stress-strain Relationship above Md

Elastic
Region
Stress Plastic
Deformation
Strain
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Superelasticity
Definition: the behavior of certain alloys to return to their original shape upon unloading after a substantial deformation has been applied. The superelastic mode takes place under constant temperature conditions. When a shape memory alloy is deformed above Af and below Md (the temperature above which stress-induced martensite can no longer be formed). stress-induced martensite is formed. When the material is unloaded, the martensite becomes unstable and the material returns to austenite and its original shape. Superelasticity occurs. The stress-strain relationship is shown in the figure.
Sl Su
Loading plateau
STRESS
Unloading plateau Sl: loading stress Su: unloading stress t: total strain
STAIN
The unloading curve occurs at a lower stress due to transformational hysteresis which is closely related to the thermal hysteresis in shape memory behavior. The loading plateau is the result of the martensite accommodating the applied stress by forming the crystallographic twin variant most favorably inclined to the applied stress field.
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Superelasticity: Effect of
Temperature on loading and Unloading Stresses
Material
Loading plateau
Elastic Strain 0.8% 5.0%
Stress
Steel
Unloading plateau
Cu-Zn-AI Ni-Ti
10.0%
Temperature
Loading and unloading stress increase with increasing temperature within the Superelastic window.
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Superelastic Window
Superelastic zone
Superelastic + plastic Deformation (permanent set)
% set after 8% Strain
Shape memory zone (recover strain by heating)
This figure shows the useable temperature range for superelastic behavior, commonly referred to as the "superelastic window".
Temperature
In the left portion of the figure, the plastic strain is large and due to the Martensitic transformation associated with the shape memory event (i.e. it can be recovered by heating above Af,). To the right of the minimum point there exists a relatively flat portion which defines the superelastic window since the permanent plastic strain is small. To the right of the superelastic window the permanent plastic strain increases dramatically and is therefore not acceptable for superelastic applications.
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Superelastic Window (cont)

Narrow Superelastic Window Limits Application An approximately 40C window, starting at the Af temperature, can be obtained by strengthening the alloy--through a combination of cold work, aging, and annealing. Still, this functional temperature range is too narrow for most industrial and consumer applications. Automobile springs, for example, generally require elasticity from -30 to 200C. Moreover, the stiffness of a superelastic device changes with temperature according to the Claussius-Clapeyron equation, at a rate of approximately 4-8 MPa/C. The variability of superelasticity with temperature, and therefore its narrow superelastic window, limits the general use of superelastic materials.
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Types of Shape Memory Alloy Materials

There are many known alloy systems which exhibit the shape memory effect, but only three have shown promise for commercial applications. They are Nickel-Titanium (Ni-Ti), CopperZinc-Aluminum (Cu-Zn-Al), and Copper-Aluminum-Nickel (Cu-Al-Ni). The copper-zinc-aluminum alloys have a typical composition of 15 25 weight percentage Zn / 6 9 weight percentage Al / balance Cu. Cu-Zn-Al alloys are lower in cost than nickel titanium, but they possess some inferior characteristics. Transformation temperatures can drift slightly during cycling (particularly at service temperatures greater than 100 oC) and to a significant extent if the alloy is not processed properly. These alloys are susceptible to stress corrosion cracking when exposed to certain corrosive agents. The copper-aluminum-nickel alloys have a typical composition of 13 14 weight percentage Al / 3 4 weight percentage Ni / balance Cu. Cu-Al-Ni alloys possess lower ductility than either Ni-Ti or Cu-Zn-Al. Their corrosion resistance is inferior to Ni-Ti and their cost is higher than Cu-Zn-Al. Cu-Al-Ni alloys undergo less degradation in shape memory properties than Cu-Zn-Al, after exposure to temperatures in the 100 to 350O C range. In addition, Cu-AlNi alloys have the highest transformation temperatures of the three alloys.
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Nitinol
The nickel titanium alloys (Nitinol) they have typical compositions of approximately 50 atomic percentage Ni / 50 atomic percentage Ti, and may have small additions of copper, iron, cobalt, or chromium. Nickel-titanium is about four times the cost of Cu-Zn-Al alloys. It has several advantages over Cu-Zn-Al and Cu-Al-Ni:
greater ductility more recoverable motion excellent corrosion resistance (comparable to series 300 stainless steels) stable transformation temperatures high biocompatability the ability to be electrically heated for shape recovery.
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Electrical Actuation for Ni-Ti SMA

High electrical resistivity (~80 micro ohm-cm) enables Ni-Ti to be heated by electric current. Time response highly dependents on: the amount of current, the ambient temperature, the wire diameter and mechanical configuration. AC or DC may be applied, care must be taken to avoid exceeding 250C. The thicker the wire the longer the cooling time.
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Superelastic Nitinol
The enormous elasticity of this alloy is the most dramatic advantage afforded by this material. While many metals exhibit superelastic effects, only Ni-Ti-based alloys appear to be chemically and biologically compatible with the human body. Although a large number of Ni-Ti ternary alloys have been introduced, none has been objectively shown to be superior to simple binary Ni-Ti with between 50.6 and 51.0 atomic percent nickel. Nitinol superelastic materials has the advantages of elastic deployment, biocompatibility, kink resistance, constancy of stress, physiological compatibility, dynamic interference, fatigue resistance, hysteresis, and MRI compatibility. Superelastic nitinol alloys are becoming integral to the design of a variety of new medical products. Human bodies have a relatively constant temperature, ideally suited to the use of superelasticity. Furthermore, the 37C temperature of humans is, by chance, easily achieved in Ni-Ti without having to go to brittle Ni-rich alloys, or to very soft Tirich alloys. Thus, the vast majority of successful superelastic applications are of a medical nature.
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Properties of Some SMAs

NiTi Range of transformation temp Hysteresis width Maximum one-way effect Maximum two-way effect Fatigue strength Ultimate tensile strength Admissible stress for actuator cycling No of cycles Density Electrical resistivity Youngs modulus, EA Corrosion resistance Thermal conductivity Heat capacity -100 to +70 30 8 4 800-1000 700 150 >100000 6450 80-100 50 very good 18 837 CuZnAl -200 to +100 15 4 0.8 400-700 600 75 10000 7900 7-12 70-100 fair 120 400 CuAlNi -150 to +200 20 6 1 700-800 500-800 100 5000 7150 10-14 80-100 good 30-43 373-574 170-190 bad J/m-sec-K J/kg-K 250 50 8000 kg/m3 10-8 m GPa 1 0.5 600-900 FeNiCoTi -150 to +550 Unit C K % % N/mm2 N/mm2 N/mm2
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SMA Properties: Yield Strength

Property Maximum As Temperature (C) High Temp Yield Strength (MPa) Low Temp Yield Strength (MPa) Ni-Ti 100 415 70 Cu-Zn-Al 120 350 80 Cu-Al-Ni 200 400 130
SMA Transformation Temperature Range

Ti N P - i t Ti N P - i d Ni T F [R- P - i e hase] Ni T[R Pase] - i- h Cu Z A - n l Ni T C - i u Ni T - i Cu A N T M - - l i i n Cu A N l i 700C 600C
- 1 00
- 6 0
- 2 0
+20 +60 +100 +140 +180 Temperature [C]
+220
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2.4 Shape Memory Alloy Actuators
Comparison of Different Actuators Types of SMA Actuators Operating Modes of SMA Actuators Some Mechanisms Using SMA Actuators Operational Modes and Applications of Superelastic Actuators Passive Damping Using SMA or Superelastic Materials
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Advantages and Disadvantages of SMA Actuators

Advantages
Large energy density Solid state actuator no moving part Combined sensor and actuator Bio-compatibility Various means of activation: electricity, laser, and heat. Availability in different shapes Linear and rotational motion Micro-scalable Usable in clean room environment Very good corrosion resistance Low voltage actuation Silent
Disadvantages
Highly nonlinear Low bandwidth Large actuation power Very low efficiency Limited range of transformation temperature (< 200OC)
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Comparison of Different Actuators
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Comparison of Actuators
Type Solenoid Bimetal Wax Motor Shape Memory
Temperature -50 to +120 C -40 to +600 C -40 to +180 C -100 to +170 C
Motion
Linear, On-Off
Characteristics -simple design -low cost -low cost -linear response -high force -low cost -linear response -high force/size -simple designs -Non-linear -silent operation -electrical and thermal control
Bending Linear Linear Torsion Bending
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Types of SMA Actuators

Actuator stroke Translation Translation Translation Material deformation Contraction Extension Shear
Leaf spring
Actuator shape
Tensile wire, bar or tube
Compression bar or tube Coil spring
Rotation
Bending
Torsion helical spring
Rotation
Bending
Torsion wire, bar or tube
Rotation
Shear
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Types of SMA Actuators

One-way motion achieved using a SMA Spring
Weight
Heating Wire Contracts Cooling Wire Extends
One-way motion achieved using a SMA Wire
Heating
Current
Current
Current Weight
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Achieving Two-Way Motion with a SMA Wire and a Biasing (steel) Spring
Current Amplifier
Linear Bearing
Bia Spring LVDT Position Sensor
SMA Wire Test Platform LVDT Position sensor Linear Bearing
Tension Spring
Nitinol SMA Wire
Pulleys
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Achieving Two-Way Motion with a SMA Spring and a Biasing (steel) Spring
MOTION
COLD
S.M.A. SPRING
STEEL SPRING
HOT
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Operating Modes of SMA Actuators

A. Free Recovery
This is the most obvious way to use SME. Free recovery consists of three steps:
1. 2. 3. Deformation of the shape memory material in the martensitic condition at low temperature. Release of the deforming stress. Heating to above the transformation temperature to recover the high temperature shape.
Example: Collapsible SMA Wire Anntenna One of the first application ideas for a shape memory device after the properties of the alloys were realized was to fabricate a collapsible antenna for a space vehicle from shape memory alloy wire, compress it into a small package, shoot it into space and with heating from the sun or by other means cause the antenna to self erect. Source: Goodyear Aerospace
Deployment of an SMA-Wire Antenna upon solar heating 58
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B. Constrained Recovery In this family of applications, the SMA component is cooled to below its Mf so it can be deformed to give a temporary shape. And it is then used as part of a system to exert considerable force when heated. Constrained recovery is the mode of operation used for couplings, fasteners, and electrical connectors.
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Constrained recovery: Single-Cycle Operation

Cryofit Couplings
Since the operating temperature may be as low as 55 C, the transformation temperature has to be lowered to about -100C. To achieved this, sufficient iron (3-4%) is added to the Ni-Ti alloy.
Cryofit shape memory couplings are used in the joining of pipes and tubes, mostly in hydraulic lines. The couplings are manufactured in the form of an expanded sleeve, which overlaps the ends of the tubes to be joined. When the sleeve is in place, it is heated, and this causes it to shrink in diameter, swaging the tubes slightly, and forming a strong union. They are used in applications which require a compact, very reliable coupling, for example for joining hydraulic tubing in aerospace applications. They have also been used in industrial and marine applications. Cryofit couplings generally have to be shipped to the customer packed in liquid nitrogen (-196O C)and require special installation tooling. These cryogenic couplings shrink and form a joint once they reach the operating temperature of the application. These couplings may have been the largest single use of Nitinol shape memory material to date.
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Source: Raychem Corp.

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Constrained Recovery: Multi-cycle Operation

Cryocon electrical connectors made by Raychem
A family of electrical connectors developed by Raychem Corp. were named Cryocon to reflect the fact that cryogenically cooling them would open the socket so the pin of the connector could be easily withdrawn or inserted. When warmed, though, the Nitinol ring would recover its smaller diameter and clamp the socket tight on the pin.
Source: Raychem Corp.

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Constrained Recovery: Multi-cycle Operation

Electrical Connector with Zero Insertion Force (ZIF)
It consists of a compliant contact (made of beryllium-copper), and a shape memory driver. The shape memory driver is expanded at low temperatures, allowing the contact to open (i.e., the contact assembly provides a biasing force), so the pin from the electronic chip can be inserted. The assembly is then allowed to heat to perating temperature and the shape memory driver shrinks in size, firmly holding the pin in place. Special tooling is required, but unlike the couplings, the assembly can be opened and closed many times if the electronic components require replacement. The connectors are used for connecting dual in-line package integrated circuits. They have the advantage of providing high clamping force and a zero insertion force.
1. Low Temperature: Insert I.C. Pin
Compliant Contact
2. Heat The SMA Driver To Clamp Pin In Place
I.C. Pin
Source: Beta Phase, Inc.

Force Applied by the SMA Driver
Shape Memory Alloy Driver
US Patents: 5,044,980 5,015,193

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Some Mechanisms Using SMA Actuators

SMA Valve
HIGH TEMPERATURE Steel Spring
LOW TEMPERATURE
Shape Memory Spring Expanded
VALVE OPEN
VALVE CLOSED
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SMA Valve
HIGH TEMPERATURE
Gas Out Valve Open
Hot Gas In
Biasing Spring
Shape Memory spring
LOW TEMPERATURE
Valve Closed
Cold Gas In
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SMA Mixing valve SMA spring will control the ratio of cold and hot water. It will prevent extreme changing of water temperature at the begging of flow.
Source: Furukawa Techno Material (FTM)

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A Rice Cooker With SMA Release Valve SMA spring opens the pressure control valve at the certain high temperature, and releases excess steam to outside.

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SAM Vent for an Air Conditioning Unit

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SMA Valve
SMA Spring at LOW TEMPERATURE
Shape Memory Alloy Spring
SMA Spring at HIGH TEMPERATURE
Steel Spring
Steel Spring
Valve OPEN
Valve BLOCKED
Shape Memory Alloy Spring Expanded
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Robotic Fish: Achieve Fish-like Locomotion using SMA Wires
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SMA Fish Actuation Illustration (Top View)

Wire 2 Wire 3
Wire 4 Wire 1
Bending 1 & 4 actuated
Waving 1 & 3 actuated
Bending 2 & 3 actuated

Waving 2 & 4 actuated

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Shape Control of a Flexible Beam Using SMA Actuators
Movie: Beam Shape Control in Air

Movie: Beam Shape Control in Water

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Shape Memory Saw-Tooth Bone Fixator
Chinese Patent No: ZL 94239678.2 Source: SIAI Hi-Tech LTD
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Operational Modes of Superelastic Actuators

A. Deformation Resistant Applications
This class of superelastic devices is manufactured with the intent that they may never be deformed beyond the limits that ordinary metals would tolerate, but if they are then they will demonstrate superelasticity by undergoing stress induced transformation and will spring back from the deformation when the stress is removed to restore the design .function of the device.
Cellular telephones antennas Eyeglass frames Guide wires to guide catheters
Superelastic Cell Phone Antenna

Nitinol guide wires
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B. Shape Restoring Applications Superelasticity allows one to pass a complex instrument through a cannula, and have the instrument elastically return to the deployed configuration once through. The figure below shows a comparison of the smaller "footprint" that is possible with "hingeless" Nitinol designs compared to a stainless steel design. Instruments include right angle needles, suture passers, retractors, graspers, baskets, and retrieval bags.
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Atrial Septal-Defect Occlusion System (ASDOS) - Shape Restoring Application

This device is the first to allow nonsurgical repairs of occlusions, or holes, in the atrial wall of the heart. This procedure can treat defects ranging in diameter from 20 to 35 mm. A transcatheter method is used with the entire procedure conducted through two catheters, in this case 10 french (~3.5 mm) in diameter. The actual device comprises two small umbrellas consisting of five nitinol wire loops supporting webs of microporous polyurethane (see the figurse). The two umbrellas are passed into the body while folded into two catheters, and are positioned one each on either side of the defect area. A guidewire passing directly through the hole is used to ensure that the two catheters and umbrella devices are positioned correctly. Once positioned, the umbrellas are pushed forward from their catheters and screwed together using a special torquing catheter. The resulting sandwich forms a patch, occluding the atrial defect. Available umbrella diameters range from 20 to 65 mm.
Source: Osypka Medizintechnik (Rheinfelden, Germany) Department of Mechanical Engineering Dr. G. Song, Associate Professor
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Amplatzer Septal Occluder - Shape Restoring Application

The Amplatzer Septal Occluder is a selfexpandable, double disc device made from a Nitinol (Nickel-Titanium Alloy) wire mesh. The two discs are linked together by a short connecting waist corresponding to the size of the ASD. To increase its thrombogenicity, the device's discs and waist are filled with polyester patches. The polyester patches are securely sewn to the wire frame with polyester threads. The Amplatzer Septal Occluders are provided in a kit containing devices ranging in size from 4-34mm*. The delivery system consists of a delivery cable, sheath, loading device, pin vise, and sizing template. Sheath sizes range from 6 to 12F.
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Source:
AGA Medical Corporation U.S. Patent 5,725,552 U.S. Patent 5,846,261
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A & B: Pre Closure
C & D: Complete closure immediately after device release.
E & F: Six month TEE Follow-up, note the shrinkage in the profile of the device with time.
Source: AGA Medical Corporation

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Stents: Shape Restoring Application

Superelastic medical self-expanding stents are used to support the inside circumference of a tubular passage such as an esophagus, bile duct, or blood vessel. Probably the most interesting area of application is in the cardiovascular system, as a follow-up to balloon angioplasty. The placement of a stent has been shown to significantly decrease the propensity for restenosis.
Stress
Loading
Martensite Inducing Stress
Unloading
Reversion Stress 4% 8%
Strain
The gentle pressure against the vessel wall is controlled by the unloading arrows, but reclosing of the vessel is resisted by the stiffness indicated by the loading arrows.
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Use of Shape Memory Alloys for Passive Damping

Shape Memory Hysteresis During Cyclic Motion
Stress, ksi 100
60 Martensite deformation Stress
20
12
Strain %
Due to the hysteresis, the shadow area represents the energy dissipated during a cycle.
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Use of Superelasticity for Passive Damping

Stress, ksi
100 Martensite Inducing Stress
60
20
Reversion Stress
12
Strain %
Due to the hysteresis, the shadow area represents the energy dissipated during a cycle.
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Control of Smart Structures

2. Review of Smart Materials and Structures (Part 1)

2. Review of Smart Materials and Structures (part 1)

Torsional Spring Rotor with SMA Wire

Power Supply for RVIT

Department of Mechanical Engineering Dr. G. Song, Associate Professor

Control of Smart Structures

2. Review of Smart Materials and Structures (Part 1)

2.1 What are Smart Materials

Department of Mechanical Engineering Dr. G. Song, Associate Professor

Control of Smart Structures

2. Review of Smart Materials and Structures (Part 1)

Some Examples of Smart Materials

SMA Thin Wire

Flexible Piezo Actuator

Control of Smart Structures

2. Review of Smart Materials and Structures (Part 1)

Types of Smart Materials

Shape memory alloys, ceramics, Polymers, Mechanocalories

Special gels Photostrictors Mechanophotochemics Mechanochemics Ionic polymeric gels

mechanical force, displacement

Piezopolymers Electrostrictors Electrorheological (ER) fluids

Magnetostrictors Magnetorheological (MR) Fluids

Shape memory alloys, ceramics, polymers

Fiber optical sensors

Ionic polymeric gels

Department of Mechanical Engineering Dr. G. Song, Associate Professor

Control of Smart Structures

2. Review of Smart Materials and Structures (Part 1)

Comparison of Smart Material Actuators

Piezo Polymer Film

Shape Memory Alloy

Max Free Strain Micro Strain

80000 (single cycle) 50000 (many cycles)

Modulus 10^6 psi

Department of Mechanical Engineering Dr. G. Song, Associate Professor

Control of Smart Structures

2. Review of Smart Materials and Structures (Part 1)

2.2 What are Smart Structures

Department of Mechanical Engineering Dr. G. Song, Associate Professor

Control of Smart Structures

2. Review of Smart Materials and Structures (Part 1)

Smart Structures: Example 1 An SMA Linear Actuator

Linear Variable Differential Transformer (LVDT) Sensor

Control of Smart Structures

2. Review of Smart Materials and Structures (Part 1)

Position Control of an SMA Actuator under a Constant Load Experimental Results

3 Position(cm) 2.5 2 1.5 1 0.5 0

-15 -20 -25 -30 -35 -40 -45 0 5 10 15 Time(sec) 20 25 30

Department of Mechanical Engineering Dr. G. Song, Associate Professor

Control of Smart Structures

2. Review of Smart Materials and Structures (Part 1)

Smart Structures: Example 2 An SMA Rotary Servo

Torsional Spring Rotor with SMA Wire

Power Supply for RVIT

Department of Mechanical Engineering Dr. G. Song, Associate Professor

Control of Smart Structures

2. Review of Smart Materials and Structures (Part 1)

Torsional Spring Rotor with SMA Wire

Power Supply for RVIT

Control of Smart Structures

2. Review of Smart Materials and Structures (Part 1)