O3 Final Report

MIDDLE EAST TECHNICAL UNIVERSITY
MECHANICAL ENGINEERING
DEPARTMENT
2014-2015 FALL SEMESTER
ME 407 - MECHANICAL ENGINEERING DESIGN PROJECT
DESIGN OF AN INCHWORM ROBOT USING SHAPE
MEMORY ACTUATORS
Supervisors: Asst. Prof. Dr. Gkhan zgen
Assoc. Prof. Dr. lhan Konukseven
Assistants: Ozan Erartsn
Sinan zgn Demir
Project Members:
lke Ceylan ilke.ceylan@metu.edu.tr 05063365899
Semih Erdoan e181682@metu.edu.tr 05064614560
Merve Erolu merveeroglu0@gmail.com 05383126742
Ozan Esenkul ozan.esenkul@metu.edu.tr 05387665585
S. Kazm Smek e174426@metu.edu.tr 05303967453
Atalay Uluakay atalayuluakay@gmail.com 05466150505

1. ABSTRACT
Shape memory alloys are one of the smart materials which are effectively employed in
engineering applications such as sensors, actuators and control capability. Considering the
actuator applications, SMAs are more functional with their high power to weight ratio.
Because of the reason that they induce higher strength and strain in addition to their capability
of providing large displacement, SMAs are very appropriate for direct drive applications,
which eliminate use of power transmission elements. In this particular project, the main aim is
to give a two dimensional motion on a horizontal smooth plane to an inchworm robot actuated
with shape memory alloys. To accomplish this project, first a literature survey was made.
According to those results, some concepts were generated and the best concept was chosen
among them. The robot based on the best concept mainly consists of two links and a body; in
addition to the, inside the body rack and pinion mechanism, responsible for rotation, is
positioned. Then, all related engineering calculations and analysis such as kinematic and
kinetic, thermal and fatigue were done in detailed design part. Moreover, proper technical
drawing and cost analysis for both manufacturing and overall system was done in this part.
After our calculations, it was observed that designed robot can be move straight ahead
position and rotate with a given angle without sliding and tipping; in addition to them, fatigue
failure of SMAs will not be observed. Consequently, designing such an inchworm robot
actuated only with SMAs requires attentive and realistic analyses for the material itself and
the desired motions as well as control systems knowledge in depth.
2. ZET
ekil hafzal alamlar(HA), sensrler, aktatrler ve kontrol kabiliyeti gibi mhendislik
alanlarnda kullanlan akll materyallerden birisidir. Aktasyon uygulamalar dikkate
alndnda; HA, g-arlk oranlarnn yksek olmas sebebiyle daha fonksiyoneldir. HA,
g aktarma elemanlarna ihtiyacn olmad dorudan balama kullanmlarna ok uygundur
nk geni deplasman salamalarnn yan sra yksek kuvvet ve gerinime neden olurlar. Bu
projeyi hayata geirmek iin ilk olarak kaynak taramas yapld. Buradan elde edilen sonular
dorultusunda, ortaya karlan konseptlerden en iyi konsept oluturuldu. En iyi konsept temel
alnarak oluturulan robot genel olarak iki balama paras ve bir gvdeden olumaktadr;
bunlara ek olarak, gvdenin ierisinde robotun rotasyonundan sorumlu olan dili kol ve fener
dili mekanizmas bulunmaktadr. Daha sonra, kinematik, kinetik, termal ve yorulma gibi
mhendislik hesaplamalar ve analizleri yaplarak ayrntl hesaplama blmne konuldu.
Ayrca, uygun teknik resimler ve fiyat analizleri de bu blmde gerekletirildi.
Hesaplamalardan sonra, tasarlanan robotun kayma, devrilme yapmadan ve yorulmadan
kaynakl bir yetersizlik yaamadan, ileri doru hareket edebilecei ve verilen bir ayla
dnebilecei grlmtr. Sonu olarak, yalnzca ekil Hafzal Alamlarn aktatr olarak
kullanld bir trtl robot tasarlamak, malzemenin kendisi ve istenilen hareketler iin zenli
ve geree uygun analizler gerektirmekte, ayn zamanda derinlemesine bir kontrol sistemleri
bilgisine ihtiya duymaktadr.
1
3. KEYWORDS
<Shape Memory Alloy Actuator>, <Inchworm Robot>, <Planar Motion Actuator>, <Nitinol>
4. TABLE OF CONTENTS
Table of Contents
1. ABSTRACT .......................................................................................................................1
2. ZET .................................................................................................................................1
3. KEYWORDS .....................................................................................................................2
4. TABLE OF CONTENTS ....................................................................................................2
5. LIST OF TABLES..............................................................................................................3
6. LIST OF FIGURES ............................................................................................................4
7. LIST OF EQUATIONS ......................................................................................................6
8. LIST OF ENGINEERING DRAWINGS ............................................................................6
9. NOMENCLATURE ...........................................................................................................6
10. INTRODUCTION ............................................................................................................6
11. MAIN TEXT ....................................................................................................................7
11.1 R1 REPORT ...............................................................................................................7
11.2 R2 REPORT .............................................................................................................21
11.3 R3 REPORT .............................................................................................................23
11.4 R4 REPORT .............................................................................................................33
11.5 R5 REPORT .............................................................................................................59
12. DISCUSSION ................................................................................................................ 87
13. CONCLUSION .............................................................................................................. 87
14. REFERENCES ............................................................................................................... 88
14.1.References of R1 Report ........................................................................................... 88
14.2. References of R4 Report .......................................................................................... 89
14.3. References of R5 Report .......................................................................................... 89
15. APPENDX .................................................................................................................... 90
15.1 Appendix of R5 Report ............................................................................................. 90
2
5. LIST OF TABLES
List of tables that are put into the reports of R1, R2, R3, R4 and R5 are cited.
R1
Comparison of HEXBUG Inchworm Robot and BioMetal Fiber Walking Robot
Inchworm (Table 1)
Comparison of Miga Linear Shape Memory Alloy Actuator and CEDRAT APA25XS
Amplified Piezoelectric Actuator (Table 2)
Comparison of austenite and martensite material properties (Table 3)
Advantages and disadvantages of SMA Actuators (Table 4)
Advantages and disadvantages of Piezoelectric Actuators (Table 5)
Advantages and disadvantages of Servo Motors (Table 6)
Comparison of Infrared and Radio Frequency (Table 7)
Comparison of Battery and wire connected to plug (Table 8)
R2
There is no table that is put into R2 report.
R3
Responsibilities of group members table(Table 1)
Time table showing the overall distribution of the workload (Table 2)
R4
Functional Decomposition Chart (Table 1)
Morphological Chart (Table 2)
Weighting factor for heating system evaluation criteria (Table 3)
Normalized version weighting factor for heating system evaluation criteria (Table 4)
Overall evaluation of concepts (Table 5)
Results of overall evaluation of concepts (Table 6)
Weighting factor for cooling system evaluation criteria (Table 7)
Normalized version weighting factor for cooling system evaluation criteria (Table 8)
Results of overall evaluation of concepts (Table 10)
Weighting Factors for Linear Motion Evaluation Criteria(Table 11)
Normalized version Weighting Factors for Linear Motion Evaluation Criteria(Table
12)
Results of overall evaluation of concepts(Table 14)
Weighting Factors for orientation of the body(Table 15)
Normalized Version Weighting Factors for orientation of the body(Table 16)
3
Weighting Factors of overall evaluation criteria (Table 19)
Normalized Version Weighting Factors of overall evaluation criteria (Table 19)
R5
Force Analysis Results of Linear Motion for Closing Legs(Table 1)
Force Analysis Results of Linear Motion for Opening Legs(Table 2)
Force Analysis Result of Rotational Motion(Table 3)
Force Analysis Result of Tipping Motion While Rotating(Table 4)
Force Analysis Result of Linear Sliding Motion While Rotating(Table 5)
Analysis Planed to be made(Table 6)
Design Decisions (Table 7)
Final Design Decisions(Table 8)
Table of SMA Design Decisions Used for Linear Motion
Table of SMA Design Decisions Used for Rotational Motion
Material Selection Table of Links
Material List Table
Cost Analysis Table
6. LIST OF FIGURES
List of figures that are put into the reports of R1, R2, R3, R4 and R5 are cited.
R1
HEXBUG Inchworm
BioMetal Inchworm Walking Robot
Miga Linear Shape Memory Alloy Actuator
Amplified Piezoelectric Actuator
Figure of patent with publication number: US6427712 (B1) 2002-08-06
Figure of patent with publication number: WO 2010126223 A2
Figure of patent with publication number: KR101338137 (B1) 2013-12-06
R2
BioMetal Inchworm Walking Robot
R3
Project Gantt chart(Figure 1)
4
R4
V Shaped Mechanism
M Shaped Mechanism
Natural Inchworm Shape Mechanism
Slider Crank Mechanism
Ratchet Mechanism
Wagon Mechanism
Scissors Mechanism
Rack and Pinion Mechanism
Oscillated Leg Mechanism
Relative Velocity Control
Excavator
Double Scissors
Rotational Spring
Half Spin Rotor
Full Spin Rotor
Figure of best concept
3D sketched version of best concept in CATIA Program
R5
Front Leg(Link 1)
Rear leg (Link 2)
Body(Link 3)
FBD While Legs Closing
FBD While Legs Opening
Rack and Pinion
FBD While Rotating
Top View of Robot While It Rotates
FBD for Frictional Force
FBD for Frictional Moment
Shear Stress for Front Leg
Shear Stress for Back Leg
Shear Stress for Body
Shear Stress for Pinion
Shear Stress for Rack
Transformation Temperatures
Shear Moduli of Martensite and Austenite
SMA Properties for Analysis of Electrical Activation of SMA
Functional Fatigue Analysis Figures
5
7. LIST OF EQUATIONS
All engineering calculations are at the appendix section of R5 report except for the kinematic
analysis. Kinematic analysis equations are at the engineering calculations part of R5 report.
8. LIST OF ENGINEERING DRAWINGS

All engineering drawings are at the appendix section of the R5 report.
9. NOMENCLATURE
g Gravitational Acceleration
Density
L Link Length
b Link Width
a Link Thickness
N Normal Force
FSMA SMA Force
m Mass
M Martensitic Temperature
A Austenitic Temperature
G Shear Modulus
T Temperature
10. INTRODUCTION
In this final report all of the reports that are submitted during the semester for the ME 407
Mechanical Engineering Design course were put. They are all revised according to the
recommendations of the groups supervisors and assistants. An abstract with its Turkish
version was put at the beginning of this final report. Also all of the tables, figures, equations
and engineering drawings were tabulated as list of tables, list of figures, list of equations and
list of engineering drawings.
In our project we are intended to give a two dimensional motion on a horizontal smooth plane
to an inchworm robot actuated with shape memory alloys (SMAs). To actuate an inchworm
robot, SMAs are very beneficial because they induce higher force and higher strain and also
they have many other advantages such as lightweight, low cost and a noise-free feature. First
of all, a literature survey was conducted. Later on, according to the information gained during
the literature survey, problem was defined and design specifications are determined with the
help of course supervisor Gkhan zgen and teaching assistants Ozan Erartsn and Sinan
zgn Demir. Then workload for the project is decided by considering the backgrounds
knowledge of group members. Gantt chart was done for project planning. Moving on,
6
functional decomposition and morphological chart were conducted. Best concept was chosen
among the generated concepts for each sub-function and required engineering calculations
and analyses were done. All these information can be found at the revised R1, R2, R3, R4 and
R5 reports that are put into this report.
11. MAIN TEXT
11.1 R1 REPORT
LITERATURE SURVEY
KEYWORD: <Shape Memory Alloy Actuator>, <Inchworm Robot>, <Planar Motion

Actuator>
1. INTRODUCTION
This report is written in order to demonstrate the commercial products, primary and sub-
components of systems, their functionality, associated patents and market values related to the
project of Inchworm Robot Using Shape Memory Alloy Actuators. Inchworm Robot Using
Shape Memory Alloy Actuators can be used for several purposes. Since the desired
movement is supposed to satisfy two directional motion, this device might also be used to
reach places where people cannot get in. This robot could be prior to open a new field of
technology.
In order to obtain knowledge about common design concepts in the industry, availability of
the elements, usage of materials and production techniques to actualize the design, a literature
survey is conducted and obtained information is reported below.
2. COMMERCIAL PRODUCTS
2.1. Inchworm Robot
2.1.1 HEXBUG Inchworm Robot
Product Description:
The Inchworm offers seven way steering and a unique crawling action. Like its cousins,
which are the Original Hexbug and the Hexbug Crab, the Inchworm is an insectoid robot, but
this time you can take full control by means of a two-channel infrared remote control
framework. It's a truly fun test to figure out how to take control of the way a bug strolls and to
get to holds with getting about on six legs. Distinctive frequency settings imply that two
Inchworms can even race one another or do fight. [1]
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Specifications of HEXBUG Inchworm: [2]
PRODUCT DIMENSIONS
Product Weight 79.83 g
Product Depth 3.7 inch
Product Width 4.33 inch
Product Height 5.04 inch
CONTROL FEATURES
Remote Control Features Reverse, Forward, Right, Left
Other Control Features Change its Direction, 7 Way Steering
Channels Supported 2 Channels
Control Type Radio Control
POWER FEATURES
Battery Type for Remote 2 x AG13/LR44 Batteries
Battery Type for Toy 2 x AG13/LR44 Batteries
Powered by Battery
Price of HEXBUG Inchworm: 19.99 $ [3]
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2.1.2. BioMetal Fiber Walking Robot Inchworm
Each BioMetal Fiber Walking Robot Inchworm has one strand of BioMetal Fiber. When
current is applied, the fiber heats up and expands. This pulls the Inchworm's feet apart. When
the current is stopped, the fiber cools and contracts due to spring. Add a little grippy fabric on
the bottom of each foot and the spring to return its original position, and you can easily see
how the little inchworm can walk along most non-slick surfaces. BioMetal Fiber Walking
Robot Inchworm one strand of BioMetal Fiber is all that it takes to get this inchworm
strolling. The BioMetal Fiber works like muscle fiber. When it heats up, it expands. Heats up
the fiber by applying electrical current. [4]
Specifications of BioMetal Fiber Walking Robot Inchworm: [5]
Batteries: 2 x AA
Dimensions: approx. 1.75" x 1.5" x 0.44" (no current) - with a 19" (approx.) leash
wire.
BioMetal Fiber is about 0.15mm in diameter.
The BioMetal Fiber works like muscle fiber - when it heats up, it contracts.
Heat up the fiber by applying electrical current.
Price of BioMetal Fiber Walking Robot Inchworm: 24.95 $ [5]
Table 1 Comparison of HEXBUG Inchworm Robot and BioMetal Fiber Walking Robot Inchworm
HEXBUG Inchworm Robot BioMetal Fiber Walking

Robot Inchworm
Weight 79.83 g 65.67 g
Height Dimension 5.04" 1.75"
Width Dimension 4.33" 1.50"
Depth Dimension 3.7" 0.44"
9
Battery Type 2 x AG13/LR44 2 x AA
Price 19.99 $ 24.95$
2.22 Actuators
2.2.1 Miga Linear Shape Memory Alloy Actuator:
The Migaone is a slim electric actuator powered by Shape Memory Alloy (SMA) wires. The
Migaone straight actuator can be utilized to supplant motors and solenoids in numerous
applications, giving a consistent force stroke of 0.375". The Migaone has an end-of-stroke
breaking point switch that averts overheating of the SMA wires, and utilization of the Miga
Motor Organization MOSFET Analog Switching Circuit permits straightforward connection
with application. [6]
Specifications of Miga Linear Shape Memory Alloy Actuator: [6]
Stroke: 0.375 inches (9.5mm)

Output Force: constant 2.5 lb-f (11 N), peak 5.0 lb-f (22 N)
Actuation Time: 50 ms to position hold (depends on input voltage or PWM)
Actuation Speed: up to 200 mm/s
Weight (as shown): 0.45 ounces (12.8 grams)
Dimensions: 2.8 x 1.3 x 0.098 (71 x 33 x 2.5mm)
Mounting Holes: 1.125 x 2.675 thru pattern for #2 SHCS
Vertical Height from 0.063 FR-4 PCB Surface: 0.059 (1.5mm)
Operating Temperature Range: -20F to 140F (-29C to 60C)
Price of Migaone Linear Shape Memory Alloy Actuator: 39.95$ [7]
2.2.2. CEDRAT APA50XS Amplified Piezoelectric Actuator
10
Patented by CEDRAT TECHNOLOGIES, the Amplified Piezoelectric Actuator (APA) is a
mechanical magnified preloaded stack of low voltage multilayer piezoelectric ceramics
(MLA). The mechanical amplification is obtained thanks to an external elliptical shell made
of stainless steel which magnifies along the short axis and the MLA deformation occurres
along the main axis. This elliptical frame also protects the MLA against tensile force. It
provides the user with mechanical interfaces for easy integration. This prestressing and
magnifying flextensional frame applies an optimal preloading force to the MLA which
ensures a longer life time and better performances than traditional mechanical amplifiers
based on lever arm and flexure pivot, when dynamically applied. APAs have force and
displacement performance ranges exceeding those of direct or bimorph Piezoactuators. APAs
are available in order to meet the different needs in terms of stroke, force and dimensions. [8]
Specifications of CEDRAT APA50XS Amplified Piezoelectric Actuator: [9]
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Price of CEDRAT APA25XS Amplified Piezoelectric Actuator: Unknown. ( should be
contacted with supplier) [10]
Table 2 Comparison of Miga Linear Shape Memory Alloy Actuator and CEDRAT APA25XS Amplified
Piezoelectric Actuator
Miga Linear Shape CEDRAT APA25XS

Memory Alloy Actuator Amplified Piezoelectric
Actuator
Stroke 9.5mm 70 m
Force 11 N 18 N
Dimensions 71 x 33 x 2.5mm 4.7 x 12.8 x 5
Price 39.95 $ unknown
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3. STATE-OF-THE ART ON RELATED TECHNOLOGIES
To make reliable and successful design, a detailed literature search should be done in every
aspect of the latest related technology. The parts that might be used in the project of
inchworm robot using shape memory alloy actuators are searched and investigated below. To
provide inchworm motion, not only shape memory alloy actuators but also piezoelectric
actuators are commonly used. As a result of this, their detailed investigation is made.
Moreover, other necessary parts like sensors or control systems are examined.
3.1. ACTUATORS
In this project, actuators will be used to give motion to the inchworm robot. Different types of
actuators are analyzed below to compare their advantages and disadvantages.
3.1.1. Shape Memory Alloy Actuators
Shape memory alloys (SMAs) are metals that "remember" their original shapes. SMAs are
useful for such things as actuators which are materials that "change shape, stiffness, position,
natural frequency, and other mechanical characteristics in response to temperature or
electromagnetic fields". [11]
SMAs have 2 phases. Different phases have different crystal structures; that is, different
properties. One is the high temperature phase called austenite and the other is the low
temperature phase called martensite. Their properties were given below. [12]
Table 3 Comparison of austenite and martensite material properties [13]

AUSTENITE MARTENSITE
Stronger & Compact phase Soft & Easily deformed phase
Cubic shape Twinned shape
Exists at higher temperatures Exists at lower temperatures
To provide the motion, phase transformation is required. Firstly, material at martensitic phase
is heated. Then, phase transformation from martensite to austenite begins. While this
transformation is occurring, the material returns to its memorized shape. Upon cooling, the
crystal structure changes from austenite to martensite and cycles go on. This unique behavior
of SMAs enables them to serve as an actuator.
Table 4 advantages and disadvantages of SMA Actuators [13]

Advantages: Disadvantages:
Bio-compatibility Relatively expensive
13
High energy density Slow response
High design flexibility Poor fatigue properties
Easy actuator control
Good Mechanical Properties
Space & weight saving
3.1.2. Piezoelectric Actuators
A piezoelectric actuator converts an electrical signal into a precisely controlled physical

displacement (stroke). If displacement is prevented, a useable force (blocking force) will
develop. The precise movement control afforded by piezoelectric actuators is used to finely
adjust machining tools, lenses, mirrors, or other equipment. Piezoelectric actuators are also
used to control hydraulic valves, act as small-volume pumps or special-purpose motors, and in
other applications requiring movement or force. [14]
Table 5 advantages and disadvantages of Piezoelectric Actuators [15] [16]

Very precise movement Low maximum stroke
Compact Declining force stroke characteristics
High force Temperature compensation required
Low energy consumption Powerful charge amplifier for high dynamic operations
Quick response Lack of robustness
High prize
3.1.3. Servo Motors
A servomotor is a rotary actuator that allows for precise control of angular position, velocity
and acceleration. The performance of the servo motors is determined by different properties
such as voltage, current, operating speed, torque, control pulse, resolution and pulse and
weight.
14
Table 6 advantages and disadvantages of Servo Motors [17]
Inexpensive Limited brush usage time
Plug and play Motor develops peak power at higher speeds
Safe Poor motor cooling
Long life Motor can be damaged by sustained overload
Excellent low speed torque More difficult to control in position
Stable Complex. Requires encoder
3.2. SENSORS
Sensors are devices that detect events or changes in quantities and provide a corresponding
output, generally as an electrical or optical signal. To control position and temperature of the
inchworm robot, sensors such as linear encoders and thermometers could be used
respectively.
3.2.1. Linear Encoder
A linear encoder is a sensor, transducer or read head paired with a scale that encodes position.
The sensor reads the scale in order to convert the encoded position into an analog or digital
signal which can then be decoded into position by a digital readout (DRO) or motion
controller. [18]
3.2.2. Thermometer
A thermometer is a device that measures temperature or a temperature gradient. A

thermometer has two important elements: the temperature sensor in which some physical
change occurs with temperature and a part that converts this physical change into a numerical
value. [19]
3.3. OPEN LOOP CONTROL SYSTEMS
15
Radio Frequency remote control, which is a handheld and a wireless device, is used to operate
audio, video and other electronic equipment using radio frequency (RF) transmission. Unlike
the more common infrared (IR) remotes, RF remotes do not require line of sight and do not
have to be aimed at the equipment. In fact, RF remotes can be operated from another
room. The basic working principle of IR remote control is the use of light to carry signals
between a remote control and the device. In addition, infrared light is in the invisible portion
of the electromagnetic spectrum. [20]
Table 7 comparison of Infrared and Radio Frequency [21]
Infrared Radio Frequency
Power Consumption 20...150 Ma 5...20 mA
Range Up to 10 m Up to 50 m
Bit length of frame Max. 40 bit per frame Typically, 80 140 bit possible
Data rate Typ. 500 bit/s 1 Kbit/s Up to 100 Kbit/s
Regulated in world wide standards (ETSI, FCC,

Regulation No limitations etc.)
3.4. MECHANISM
The robot can achieve the periodic biological rhythms such as the inchworms arching-
dropping-arching-dropping when it is walking in the horizontal plane. There are some small
speed and acceleration fluctuations near the center of mass. Just by changing postures
regularly, the bionic inchworm robot achieves the stable movement to move forward. So the
walking mechanism based on the linkage mechanism is effective and reasonable. [22]
3.5. HEATING COOLING SYSTEMS
In the project, heating and cooling processes of shape memory alloys are necessary to achieve
inchworm motion. Heating process could be done with one of the two different methods,
giving electricity current in SMA to increase its temperature and using adjustable heaters
around SMA wires. On the other hand, cooling process could be done with free or force
convection. If free convection is used, mechanism will be simpler but cooling will be slower.
However, with force convection, faster cooling could be achieved at the expense of more
complicated mechanism. In addition, fans might be an option for force convection.
16
3.6. POWER SOURCES
Energy can be supplied to the inchworm robot with two different methods either using
batteries or using wires connected to plugs.
Table 8 comparison of Battery and wire connected to plug
Batteries Wire connected to plug
Need to charge No need to charge
Unlimited elbowroom Limited elbowroom
Extra weight for mechanism No extra weight for mechanism
4. PATENT
4.1. Title: Ambient temperature shape memory alloy actuator
Publication Number: US6427712 (B1) 2002-08-06
In the patent document, a problem which is about the phase transformation in the SMA
(Shape Memory Alloy) is defined. R-phase is defined for this reason. That is a martensitic like
phase. However, it is said that the alloy's structure begins to change at a temperature (the "R-
threshold") which can be several degrees higher than the normal cooling threshold, and may
be within 1.5C of the warming threshold temperature. Upon entering this phase, the crystal
structure begins to weaken and change, but does not fully change into the martensitic phase
until the temperature drops below the normal cooling threshold temperature. As the alloy
enters the R-phase from the austenitic phase, and provided the material does not enter the
martensitic phase, very tight temperature hysteresis can be achieved.
It can be seen that there are two different springs. One of them made from SMA and the other
one is just a ordinary steel spring. These are opposing springs. The main aim is that the forces
of the opposing springs can be balanced so that the force of the SMA spring in its strong state
is greater than that of the biasing spring, but in its weak state is less than that of the biasing
spring. Thus the position of an actuating element can be controlled by the stronger spring,
with the stronger spring being determined by the phase of the material in the SMA spring,
which is in turn controlled by ambient temperature. By designing the actuator so that the
SMA spring material will enter the R-phase during cooling, the hysteresis effect of the SMA
material can be reduced to a small temperature range, such as less than 2 deg C.
17
This figure shows working principles of
springs at different temperatures. The fig.1 is
represented for warm temperatures and the fig.2
is represented for cold temperatures.
To conclude, an ordinary spring can be

used in the project to reduce the cooling
problems on the SMA wire. Then it will be
more stable. In many applications, it can be
seen that a spring is used widely.
4.2. Title: Inchworm robot
Publication Number: WO 2010126223 A2
This invention is about improvement of inchworm robots legs by using different portions of
copper and rubber layers on the bottom.
(21 represents the copper film portion and 20a represents rubber portion of leg.)
In this innovation, SMA wire (11) is used to perform inchworm motion. Formations of the
present device is formed at both ends of the body, and restore contraction of a SMA wire
changing the radius of curvature of the body part and the bottom of the leg portion are formed
in at least two different coefficient of friction. When the SMA wire activated through
electrical current, body starts to contract. While the contraction is happening, friction
18
difference between two legs occurs in spite of the fact that only copper film part touches the
ground in the front leg. However the rubber part also touches ground in the rear leg.
To sum up, we can make use of the invention to facilitate the inchworm motion by adding
different materials with different coefficient of friction to the bottom of robots legs. Although
we are not planning to use u shape body to provide inchworm motion, we can consider the
friction difference to be able to move our robot on a plate freely.
4.3. Title: Actuator Using Shape Memory Alloy
Publication Number: KR101338137 (B1) 2013-12-06
The present invention

relates to shape memory
alloy actuators with
improvement of high
reaction speed and
remarkably reduced power
consumption. It is designed
that SMA actuator(100)
includes a pair of SMA
elements (30a) and (30b)
which are mounted to
positionally move and fix
the movable member(20) to
one of the first position and
the second position.
Position fixing motion is

performed by means of separably
fixing the movable member at the
desired position by a magnetic
force. After the movable member
positionally moves to and is
positionally fixed at one of the
first position and the second
position, it may be maintained at
the first position or the second
position in spite of the absence of
the electric energy supply to both
of the SMA elements. Therefore,
the SMA actuator(100) has
largely reduced power
consumption, compared to the
conventional active SMA
19
actuator (1) which needs continuous electricity supply for the movable member to maintain a
fixed state at the first position.
As a conclusion, this invention provides a solution to two significant problems, power

and heating-cooling speed, which we could face with in our project. Therefore we can
consider using this kind of fixing and moving mechanism with the help of magnetic forces.
5. SUMMARY AND CONCLUSION
In this report, a literature survey about inchworm robot using shape memory alloy actuator is
presented in order to get a general view over the project. To do so, four different commercial
products, state of the art on related technologies, and two patents are researched and studied.
Commercial products give the idea about what is achievable at the end as a product of our
project. This survey is beneficial to make reasonable specification in the problem definition
part under the lights of todays latest technology. Also, patents show the working principles of
shape memory alloys and improvement of inchworm motion. Beside of commercials and
patents, states of arts are the techniques or products that can be used in our project to supply
the specifications.
In conclusion, commercial products, actuators, sensors, control systems, mechanisms, heating

and cooling systems, power systems, and literature survey of patents give the idea of what can
be made and which method could be used to realize our ME 407 inchworm robot using shape
memory alloy actuator design project.
20
11.2 R2 REPORT
PROBLEM DEFINITION AND DESIGN SPECIFICATIONS
PROJECT Design of an Inchworm Robot Using Shape Memory Alloy Actuators
Adapted from http://www.imagesco.com/nitinol/inchworm.html
Definition of the Problem:

Inchworm motion principle is generally adopted for high precision position devices since it
can produce high resolution, unlimited travelling distance as well as no backlash. Thee
inchworm robots are used in wide variety of fields such as bio-mechanic, medicine, military
and also entertainment etc.
In order to actuate inchworm robots, some smart materials, especially piezoelectric ones and
shape memory alloys, are generally used. However, shape memory alloys induce higher force
and higher strain than piezoelectric materials. Moreover, shape memory alloys have many
other advantages such as lightweight, low cost and a noise-free feature.
In this particular project, the main aim is to give a two dimensional motion on a horizontal
smooth plane to an inchworm robot actuated with shape memory alloys.
Project Requirements:
o Robot should be able to perform its motion on a single horizontal plane which is surface
of the lab table.
o The main linear motion should be carried out by means of shape memory wires.
o Linear motion will be provided with constant speed.
o The average speed should be between 16 mm/s 20 mm/s
o The robot should rotate with an angle of 15 to the left and right.
o The robot should follow the specified path.
o The control method will be open loop control system.
21
o LabVIEW will be used as software.
o Mechanical buttons will be used in remote controller.
o Power source will be separated from robots body.
o The system should operate motion within at least 2m2 area.
o The height of the robot should not exceed 25 cm.
o The weight of the robot should not exceed 1 kg.
o The mechanical life of the system should be 1 year of 1 hour of operation per day.
o In the design, precautions considering the safety of the environment and people must be
included. In other words, designed system should provide electrical safety for operations.
o Design of robot should have aesthetic concerns.
o Mechanical design and manufacturing should be done to meet the design specifications.
Specifications for the Model:
o The model scale will be 1:1
Design Criteria:
Shape Memory Actuation 14%

Inchworm Motion 50%
o Linear motion 15%
o Two dimensional motion 20%
o Resolution 15%
Speed specification 15%
Weight specification 3%
Height specification 3%
Life cycle 5%
Safety & Packaging 10%
22
11.3 R3 REPORT
PROJECT PLANNING and MANAGEMENT REPORT
I. INTRODUCTION
In this report, it is aimed to assert the explanations of the tasks and their definitions with a
timetable. Every group member was assigned to carry out specific tasks which were divided
into sub functions for more efficient organization. Additionally, a certain timeline will be
given as a Gantt chart for each subtask. This planning will help us to finish the project in time
and well prepared.
II. ORGANIZATION OF THE PROJECT
The project has six group members. Responsibilities are given in the table below.
MEMBER NAME lke CEYLAN Ozan ESENKUL Merve EROLU

(C) (OE) (ME)
Team Leader: Structural Computer aided
Coordination analysis design and design
between team Manufacturing software
RESPONSIBILITIES members process Manufacturing
Literature survey Frame design process
LabVIEW Frame design.
Aesthetic
packaging
MEMBER NAME
Atalay ULUAKAY Sleyman Kazm Semih ERDOAN
SMEK
(AU) (SE)
(SKS)
Manufacturing LabVIEW Computer aided

processes Thermal analysis design and design
Thermal analysis Cabling system software
RESPONSIBILITIES Literature survey Structural
analysis
Frame design
23
II.A. EXPLANATION OF THE TASKS AND THEIR DEFINITIONS
1. Literature Survey
In order to gather information about our specifications of design, a literature survey was
conducted. While doing this, commercial product research, patent research and state-of-the-art
on related technologies were investigated and the necessary information was obtained for R1
report.
1.a. Commercial Product Research (AU, SKS)

Products in the market which are related to shape memory actuation and inchworm motion
were researched. In addition to that, specifications of these products were obtained.
Start Date: 29.09.2014
Duration: 13 Days
Finish Date: 11.10.2014
Members taking part: Atalay Uluakay, Sleyman Kazm Smek
1.b. Patent Research (C, ME)

Patents of related technologies were investigated.
Duration: 2 weeks
Members taking part: lke Ceylan, Merve Erolu
1.c. State-of-the-Art on Related Technologies (OE, SE)

The parts that might be used in the project of inchworm robot using shape memory alloy
actuators were searched and investigated.
Duration: 2 Weeks
Members taking part: Ozan Esenkul, Semih Erdoan
2. Conceptual Design
Among many alternative designs, the best concept which will fulfill the design specifications
and overcome the problems that were confronted with will be selected.
2.a. Problem Definiton (All Members)
24
Regarding to the information that is obtained via literature survey and considering our design
specifications, problem definition is specified.
Duration: 2 Weeks
Members taking part: All Members
2.b. Functional Decomposition (All Members)

A functional decomposition was obtained considering the specified design functions. Main
functions and subfunctions were determined.
Duration: 5 Days
2.c. Evaluation and Selection of Concepts (All Members)

By utilizing morphological charts and Pughs method, the concepts obtained through the
information acquired so far will be evaluated according to predetermined evaluation criteria.
Then, the best concept will be selected.
Estimated Start Date: 06.11.2014
Estimated Duration: 11 Days
Estimated Finish Date: 16.11.2014
3. Mock-up Presentation
A test setup will be conducted to ensure that the design fulfills the specified criteria and
required adjustments will be done on the model considering the problems faced in the mock-
up. VMM Virtual Reality Mock-up Model showing the assembly/disassembly and working
principle of inchworm robot by 3D models and animations will be prepared by using
SolidWorks or CATIA.
Estimated Duration: 9 Days
25
4. Detailed Design
All computations will be conducted according to the best design chosen after the evaluation
process of all concepts. The detailed design phase contains following subtasks.
4.a. Thermal Analysis and Characterization of SMA (AU, SKS)
The determination of phase transmission temperatures of SMA wire, fractions of the SMA for
specific temperatures will be established. Moreover the efficiency of heating and cooling
mechanisms and analysis of working principle will be conducted.
Estimated Duration: 4 Weeks
Members taking part: Atalay Uluakay, Sleyman Kazm Smek
4.b. Structural Analysis of Inchworm Robot (OE, SE)

Fatigue and force analysis of the robot will be determined.
Members taking part: Ozan Esenkul, Semih Erdoan
4.c. Frame Design (OE, ME, SE)

Body, legs and feet of the inchworm robot will be designed considering the requirements of
weight and height.
Members taking part: Ozan Esenkul, Merve Erolu, Semih Erdoan
4.d. Technical Drawing (ME, SE)

Members taking part: Merve Erolu, Semih Erdoan
4.e. Control System (C, SKS)
26
LabVIEW will be used as software in the design of control system.
Members taking part: lke Ceylan, Sleyman Kazm Smek
5. Manufacturing
The designed concept will be produced in real life by the given subtasks.
5.a. Material Supply (OE, ME, AU)

All of the necessary items and materials for the design will be gathered according to the
calculations.
Estimated Duration: 1 week
Members taking part: Ozan Esenkul, Merve Erolu, Atalay Uluakay
5.b. Production (OE, ME, AU)

Provided materials will be used for the production part.
Estimated Duration: 1 Week
5.c. Assembly (OE, ME, AU)

Assembly will be made from produced parts and essential test will be done.
Estimated Duration: 1 Week
27
6. Documentation
The reports to be submitted and the presentation to be prepared are presented below as
subtasks.
6.a. Report on Review of State-of-the-Art and Patent Survey R1

The commercial products, which shape memory actuators, were used and inchworm motion
was conducted, was discussed. Moreover, the state-of-the-art technologies were introduced
and latest technologies was compared. In addition, the patents associated with the project
were presented.
Submission date: 13.10.2014
6.b. Problem Definition and Design Specifications Report R2

Requirements, design specifications and design criteria of the project were specified.
Members taking part: All members
6.c. Project Planning and Management Report R3

The organization of the project is discussed. Workload of the members is mentioned. The
main tasks and their respective subtasks ere explained together with their definitions. In
addition to that time table and timeline are shown in this report.
6.d. Conceptual Design Report R4

Alternative design concepts which were developed including the evaluation process on these
concepts, which in turn results in the selection of best concept(s) will be explained. A
morphological chart will be presented according to concept developed. Methods for choosing
best concept will be introduced. Reasons of chosen best concept will be identified.
6.e. Virtual Mock-Up Presentation

Virtual Reality Mock-up model presentation of the project will be prepared.
6.f. Detailed Design Report R5
28
Design details will be elaborated. Engineering calculation and analysis of system will be
discussed. Also the control system and algorithms used will be introduced.
6.g. Final Report FR

Final report will be a compilation of previous reports (R1-R2-R3-R4-R5). Also this report
will have final remarks of the project and there will be a summary of whole project.
Submission date: TBA
6.h. Final Presentation

Final Presentation of the project will be prepared.
Submission Date: TBA
6.i. Poster and Demonstration

A poster of the project will be prepared for demo session which will introduce the work done.
Submission Date: 22.01.2014
29
II.B. TIME TABLE
The tabulated form of the work load is provided below.
TEAM
TASK ID DURATION
MEMBERS
1.a 13 days AU, SKS
1.b 2 weeks C, ME
1.c 2 weeks OE, SE
2.a 2 weeks All members
2.b 5 days All members
2.c 11 days All members
3 9 days All members
4.a 4 weeks AU, SKS
4.b 2 weeks OE, SE
4.c 2 weeks OE, ME, SE
4.d 2 weeks ME, SE
4.e 6 weeks C, SKS
5.a 1 week OE, ME, AU
5.b 1 week OE, ME, AU
5.c 1 week OE, ME, AU
Table 1 Time table showing the overall distribution of the workload
30
II.B. TIMELINE
Figure 1 Project Gantt chart
31
III. SUMMARY AND CONCLUSION
In this report, the main and subtasks are determined and explained. Project organization is
done according to members personal relevancy to each topic. Then, each task is explained in
details. Tasks and subtasks which are done during the project design are analysed. This
analysis includes the summary about what has done so far, members names and their
responsibilities for that specific task and start-finish dates. Tasks, duration of these tasks and
responsible team members are tabulated into the timetable. Besides, Gantt chart is introduced.
Time durations are defined as approximate values considering the delays and time lags.
In literature survey, each member worked for different subtasks. There were three subtasks for
literature survey; so every two people gathered the information for the same topic. In
conceptual design, every member had the same work since this part is the main and the most
important part of the design. Also, mock-up presentation requires the participation of all
members. For detailed design every member works on the one or more specific subtasks
according to area of interest of each member. The same task sharing perspective is done for
manufacturing process so three member was responsible for that stage. In addition,
documentation is done all together during the whole process of the project. All these tasks and
subtasks are scheduled in detail and will be carried out based on this schedule.
Manufacturing stage is one of the crucial stages of the project and three members are charged
for this task. This stage turns the subtasks into a real life project but it can be very risky task
because if there is something wrong about the design, it will show up at this step. To prevent
this, design must be done carefully and there must be additional materials for rebuilding.
Using high quality materials can be also a very good solution to prevent material failures.
There will be use of some software products in this project. SolidWorks and CATIA will be
used for 32odeling, simulation, analysis, and manufacturing purposes. They are preferable
since they are easy to use and there is a free access in our departments computer laboratory.
Next, to control the system, LabVIEW will be used. Owing to its compatibility with the data
acquisition cards that are available in the department, LabVIEW is preferred. Moreover, a
user-friendly interface on the computer screen is used not only for comprehensibility but to
control the actuator of the adjusting mechanism. All in all, it can be considered subtle to use
those software programs. However, getting used to new software will be time consuming.
Therefore, it should be noted that there will be some user related inevitable errors. Moreover,
mistakes in coding can cause some problem. Inaccurate description may happen during the
coding part. After system model is completed, the outputs should be checked to see whether
the relations and the parameters defined correctly. If the CAD design is incompatible with
actual design, the system cannot work properly. To prevent this, a set-up can be created.
Safety is also a very important topic. Since the heating of SMA wire is due to electrical
current, some precautions should be taken not to be exposed to electrical shock.
32
11.4 R4 REPORT
CONCEPTUAL DESIGN
I. INTRODUCTION
In this report, concept development which is the aim of the team will be explained. Final state of the
functional decomposition will be done and showed in this report. Also, morphological chart will be
done for this report. For the morphological chart, sub-functions will be identified carefully, also to get
the enough option, alternative solutions for sub-functions also identified.
All team members will work to specify the concepts due to fact that this is a concept presentation
report,. These concepts will be set from the sub-functions and thinking that what we design for the
combination of these sub-functions. Concept evaluation technique will be used for selecting part.
According to concept evaluation technique, best concept will be selected and explained in detail.
II. CONCEPT DEVELOPMENT AND PRESENTATION

The main purpose of this project is to design an inchworm robot using shape memory alloy actuators.
In addition to that it should perform its motion in 2D space.
In order to satisfy these, a functional decomposition chart is constructed.
Table 1: Functional Decomposition
To Actuate Inchworm Robot with Shape Memory Alloys in 2D
To Actuate Shape To Control System

To Perform 2D Motion
Memory Wire
To Change Cyrstal To Perform Linear To Get Input From

Structure of SMA Motion User
To Convey User
To Heat the To Oriantate the Interface
System Robot
To Cool the
System
Listed version;
1) Actuate Shape Memory Wire

1.1) Change crystal structure of SMA
1.1.1) Heat the system
1.1.2) Cool the system
2) Perform 2 D motion
33
2.1) Perform Linear Motion
2.2) Orientate the Robot
3) Control System
3.1) Get Input from User
3.2) Convey User Interface
To satisfy these sub-functions solutions are generated and adding these solutions to the functional
decomposition chart, Morphological Chart is obtained.
Table 2: Morphological Chart
FUNCTIONS CONCEPTS
Electric Current External Heater Chemical Reactions
To Heat the
System
Exothermic Reactions
Free Convection Forced Convection Micro-coolers
To Cool the
System
V-shaped Mechanism M-shaped Mechanism Natural Inchworm Shape Slider-Crank Mechanism

Mechanism
Ratchet Mechanism Wagon Mechanism Scissors Mechanism
To Perform
Linear Motion
Rack and Pinion Mechanism Oscillated Leg system Relative Velocity Control Excavator
Double Scissors Rotational Spring Half Spin Rotor Full Spin Rotor
34
To Orientate the
Robot
Wireless Control Wired Control
To Get Input
From User
Computer Software (LabVIEW)
To Convey User
Interface
Subfunctions Concept 1 Concept 2 Concept 3 Concept 4 Concept 5 Concept 6 Concept 7 Concept 8
1) Actuate Shape
Memory Wire
1.1) Change cyrstal

structure of SMA
Electric External Chemical

1.1.1) Heat the system
Current Heater Reactions
Free Forced Micro-

1.1.2) Cool the system
Convection Convection coolers
2) Perform 2 D motion
Natural
2.1) Perform Linear V-shaped M-shaped Inchworm Slider-Crank Ratchet Wagon Scissors
Motion Mechanism Mechanism Shape Mechanism Mechanism Mechanism Mechanism
Mechanism
Rack and Relative

Oscillated Double Rotational Half Spin Full Spin
2.2) Oriantate the Robot Pinion Velocity Excavator
Leg system Scissors Spring Rotor Rotor
Mechanism Control
3)Control System
Wireless Wired
3.1) Get input from user
Control Control
Computer
3.2) Convey user
Software
Interface
(LabVIEW)
35
1. To Actuate Shape Memory Wire
Shape memory alloys (SMAs) are metals that "remember" their original shapes. SMAs are useful for
such things as actuators which are materials that "change shape, stiffness, position, natural frequency,
and other mechanical characteristics in response to temperature or electromagnetic fields". [11]
1.1. To Change Crystal Structure of SMA
Phase transformation is required to actuate SMAs which have two different crystal structure; that is,
different properties.
1.1.1. To Heat the System
It is necessary to heat the SMAs to change its crystal structure from low temperature phase,
martensite, to high temperature phase, austenite. . They can recover their shape when the temperature
is increased. An increase in temperature can result in shape recovery even under high applied loads
therefore resulting in high actuating energy densities.
1.1.1.1. Electric Current
SMA wires are heated by joule heating, which is by passing an electrical current through the element.
To increase the heating rate, the only method is to pass a larger current through the element. However,
the SMA element runs the risk of overheating, and therefore damage, if a current beyond a certain safe
value has been applied for a sufficiently long duration. Normally, an SMA element is heated by means
of a current not exceeding the known safe current level, to avoid overheating. For safety it is crucial
to electrical current not exceed 20 mA. [1]
1.1.1.2. External Heater
Heating the SMA wire is performed externally; that is, the actuator is not part of the circuit so only
two ends need to be fixed to the opposite sides of the actuated joint. So the simplified and aesthetic
appearance of robot could be achieved. But, while trying to heat the wire externally, other neighboring
parts can be affected badly, which damage the safety of system. Moreover to move the robot
continuously; slightly long period of time; external heater could be effortful for the user.
1.1.1.3. Chemical Reactions
The power source is chemical energy and the heat generation is derived based on the entropy equation.
Generated heat activates the SMA. The minimum heat generated (heat rise) in a chemical reaction
assuming isothermal conditions can be described by the product of the temperature and change in
entropy of the reactant and product. However, there are several heat losses that should be considered
which are radiation heat of in the system and convection.
1.1.2. To Cool the System
Upon cooling in the absence of an applied load, the crystal structure changes from austenite to
martensite. For NiTi SMAs, phase start and finish temperatures are M s=25C, Mf=50C, As=58C and
36
Af=78C. So 78C SMA needs to be cooled to 25C to perform the cycle of heating- cooling of NiTi
wires associated with wires recovery of the original shape.
1.1.2.1. Free Convection
Free convection of SMA wire is such that temperature field is allowed to reach ambient temperature
during cooling. If the wire is heated by electrical current, cooling by free convection means that the
current switched off. It is passive form of cooling and very slow unless the temperature gradient is
high.
1.1.2.2. Force Convection
The method that cooling is actively controllable is force convection. A fan or some other similar
device can be used to impose a higher convection coefficient than in free convection that results in
accelerated heat transfer. Moreover, force convection coefficient is much higher that free convection
coefficient for temperatures less than 100C, which includes the phase temperatures of nitinol wire.[2]
1.1.2.3. Micro-Coolers
Thermoelectric modules have no moving parts and do not require the use of chlorofluorocarbons.
Therefore they are safe for the environment, inherently reliable, and virtually maintenance free. They
can be operated in any orientation and are ideal for cooling devices that might be sensitive to
mechanical vibration. Their compact size also makes them ideal for applications that are size or weight
limited where even the smallest compressor would have excess capacity. Their ability to heat and cool
by a simple reversal of current flow is useful for applications where both heating and cooling is
necessary or where precise temperature control is critical. Micro modules are devices that have
semiconductor element footprints of less than 1.0mm square, allowing higher numbers of couples for a
given size module. These modules are metallized (but not solder tinned) on both hot and cold surfaces
and they are suitable for mounting with solder or via compression (compression is recommended). But
they are expensive.[3]
2. To Perform 2D Motion
2.1. To Perform Linear Motion
2.1.1. V Shaped Mechanism
37
V-shaped SMA wire is used to actuate mechanism consist of two
legs (links) connected to each other by a pin as in the sketch.
Inchworm motion is provided by continuous phase transformations
of SMA wire. Initially SMA wire is at room temperature; that is, it
acts as a simple wire. However, as the wire is heated or electrical
current is allowed to flow through wire, it recovers its remembered
straight shape. Therefore link at the front moves with the force SMA
created. Bias spring between the links is positioned such that can be
used to apply recovery force to SMA so the link at the back also
move in the direction SMA wire is dictated. Moreover this concept
needs a special design for bottom of legs to overcome the problem of
backlash. So using boat form feet and integrating high frictional
coefficient material on the front half portion them and low
2.1.2. M-Shaped Mechanism
Working principle of this concept is similar to V shape Mechanism.

But in this mechanism two SMA wires provide the motion. While one
of them is responsible for the movement of the front leg, other wire
enables to leg at the back to move in the direction of front leg. When
legs are opened, body is touched to the ground and provides extra
friction thus prevents backlash motion. Comparing it with the first
concept, special design for bottom of legs as in the first concept to
overcome the backlash is not needed. Moreover, it can be used to
store some necessary equipment.
2.1.3. Natural Inchworm Shape Mechanism
Flexible net made from ropes is used as body of the robot. Helical shape
three SMA wires wrapping the different portions of the body are used to
get inchworm motion as in the nature. As it can be seen from the sketch
first of all the SMA helical wire wrapping first portion was activated and
it squeezes that portion of the then second and third SMA helical wires
heated respectively. Unfortunately the backlash of motion cant be
prevented so very slow and covers a little ground.
2.1.4. Slider Crank Mechanism
38
In this design, SMA actuator provides a torque to move the robot.
By heating torque actuator SMA, pivot of link 3 on link 2 follows
the path shown at the sketch, and link 1 moves with it since link 3
and link 1 is pivoted. So, this continuous rotational motion is
transformed to inchworm motion by using slider crank mechanism.
2.1.5. Ratchet Mechanism
V Shape SMA wire is also used in this design but as distinct from
the first concept, V shape mechanism, wheels are hinged to the
bottom of legs. To prevent backlash motion, wheels with ratchet
mechanism are also used. Thus, special frictional pads at the bottom
of the legs are not necessary.
2.1.6. Wagon Mechanism
In this type of linear motion concept, inchworm mechanism consists of

2 main bodies that are pushed and pulled by each other respectively by
means of 2 concentric linear spring and Shape Memory Alloy spring
mechanisms parallel to each other. When SMA spring is exposed to
electrical current or heat source, it pools the body and applies
compression force on linear spring. When it is released, this time linear
spring pushes bodies and helps SMA spring to get back to its first state.
Bodies are fixed by locking mechanisms to maintain motion
respectively.
2.1.7. Scissors Mechanism
In this type of linear motion concept, motion is provided by scissor

mechanism that consists of 6 links and they are combined with pin
joints. Wheels are locked and released respectively to maintain motion.
SMA springs are employed for actuation and linear springs are employed
for recovery.
2.2. To Orientate the Robot
2.2.1. Rack and Pinion Mechanism
39
SMA springs are used to get linear actuation on both sides of the rack.
Rotational motion of pinion is provided by racks linear motion. Springs
are used to back to initial position of SMA. Frictional disk which touches
to the ground is connected to pinion by means of shaft. While frictional
disk is rotating, whole body rotates at a point thus 2D motion is acquired.
2.2.2. Oscillated Leg Mechanism
Two legs move in same direction simultaneously with the help of

linkage between them. So, friction force caused by other leg is reduced
and the system only focused on moving forward direction. While SMA
(1) is used to actuate mechanism in one direction, SMA (2) is used to
actuate other direction. The body and the platform which legs are
connected are separated and the motion is allowed only in y direction
however the others are prevented. Gear train which takes power from
legs motion is used to actuate cam mechanism. This cam mechanism
changes distance between platform and the body. So, legs are elevated
from ground and they can recover to their initial position at that position.
The rack and pinion mechanism is contained in body to provide 2D
motion.
2.2.3. Relative Velocity Control
Two V-shaped mechanisms are connected together. In order to rotate

the robot, relative velocity control is used. For example, left legs are
stopped and only right legs are actuated to turn left or vice versa.
2.2.4. Excavator
As in the linear motion, front leg actuated by SMA wire. When it is

cooled down, bias spring pulls the body attached to rear leg. Moreover,
body has a wheel for ease of motion. On the other hand, a rack and
pinion mechanism is integrated to body to perform rotation of link at
the front; that is, as pinion rotates, front leg rotates also with the pinion.
2.2.5. Double Scissors
40
Two units of Scissor Mechanism are used to be able to rotate one of the
units with respect to other one. There is a revolute joint connection
between units. To have rotational motion two SMA springs are attached
between units.
2.2.6. Rotational Spring
This is a typical torsional spring made of SMA wire. When SMA wire is
activated, it starts to elongate and rotate about a shaft due to spiral
shape.
2.2.7. Half Spin Rotor
To rotate the body to left, SMA spring at the left side is actuated
and starts to shrink. To rotate right, vice versa. It performs only
180 rotation.
2.2.8. Full Spin Robot
Three identical SMA springs are attached between a fixed point and
link at the rotor part. Angle between each SMA springs has 120 degree
to be symmetric. Three SMA springs is activated one by one to get
continuous rotation.
3. To Control System
3.1. To Get Input from User
3.1.1. Wireless Control
41
A wireless network or Wireless Local Area Network (WLAN) serves the same purpose as a wired one
to link a group of computers. Because "wireless" doesn't require costly wiring, the main benefit is that
it's generally easier, faster and cheaper to set up. By comparison, creating a network by pulling wires
throughout the walls and ceilings of an office can be labor-intensive and thus expensive. But even
when you have a wired network already in place, a wireless network can be a cost-effective way to
expand or augment it. In fact, there's really no such thing as a purely wireless network, because most
link back to a wired network at some point.
Wireless networks operate using radio frequency (RF) technology, a frequency within the
electromagnetic spectrum associated with radio wave propagation. When an RF current is supplied to
an antenna, an electromagnetic field is created that then is able to propagate through space. The
cornerstone of a wireless network is a device known as an access point (AP). The primary job of an
access point is to broadcast a wireless signal that computers can detect and "tune" into. Since wireless
networks are usually connected to wired ones, an access point also often serves as a link to the
resources available on the a wired network, such as an Internet connection. In order to connect to an
access point and join a wireless network, computers must be equipped with wireless network adapters.
These are often built right into the computer, but if not, just about any computer or notebook can be
made wireless-capable through the use of an add-on adapter plugged into an empty expansion slot,
USB port, or in the case of notebooks, a PC Card slot. [4]
3.1.2. Wired Control
3.2. To Convey User Interface
LabVIEW software is ideal for any measurement or control system, and the heart of the NI design
platform. Integrating all the tools that engineers and scientists need to build a wide range of
applications in dramatically less time, LabVIEW is a development environment for problem solving,
accelerated productivity, and continual innovation.
LabVIEW is a graphical programming platform that helps engineers scale from design to test and from
small to large systems. It offers unprecedented integration with existing legacy software, IP, and
hardware while capitalizing on the latest computing technologies. LabVIEW provides tools to solve
todays problems, and the capacity for future innovation, faster and more effectively.
NI LabVIEW system design software is at the center of the National Instruments platform. Providing
comprehensive tools that you need to build any measurement or control application in dramatically
less time, LabVIEW is the ideal development environment for innovation, discovery, and accelerated
results. Combine the power of LabVIEW software with modular, reconfigurable hardware to
overcome the ever-increasing complexity involved in delivering measurement and control systems on
time and under budget. [5]
III. EVALUATION OF CONSEPTS
Making use of the information stated in the concept development part, evaluation of solutions of each
sub-functions was carried out. To evaluate these sub-solutions, weighting matrices were used. First of
all, evaluation criteria were determined for each sub-function by using design criteria that we proposed
before in R2 report. In weighting factor tables, ranking was performed according to importance of
42
each criterion. Then normalized version of these tables was composed. Secondly, another ranking
operation was performed for each concept for each criterion. Finally, weighting factors that we got
from normalized tables were multiplied with the ranking values of each concept for corresponding
criterion. In the resulting tables, total points are obtained from previous tables were acquired.
Some of these criteria such as operational safety, feasibility, and packaging were common in all sub-
solutions. Other criteria such as heating speed, compatibility with 2D and range of rotation in one
cycle were generally unique in a way, considering the sub-solution itself. Process of this evaluation
and result along with the evaluation criteria are tabulated below.
Definitions of Criteria:
1. Heating Speed: The amount of time passed to complete the phase transformation of SMA
wire by heating. We need this criterion because it effects the average velocity requirement in
design criteria.
2. Operational Safety: Criterion that evaluates whether it is possible to use mechanism safely
without causing any harm for people, natural habitat etc.
3. The ability to have continuous motion: Factor that affects average velocity criteria.
4. Feasibility: Criterion that checks whether it is suitable for our overall concept.
5. Controllability: The ability of controlling the temperature of SMA wire.
6. Packaging: Criterion that evaluates whether mechanism is good looking or not.
7. Cooling Speed: The amount of time passed to complete the phase transformation of SMA
wire by cooling. We need this criterion because it effects the average velocity requirement in
design criteria.
8. Cost: Criterion that checks whether it is affordable for our budget or not.
9. Compatible with 2D: Criterion that evaluates mechanisms compatibility to 2D motion. That
is to say, linear motion should be integrated to 2D motion and this doesnt violate ability to
rotate while doing inchworm motion.
10. Accuracy of Linear Motion: Any mechanism that is responsible with linear motion should
fulfill accuracy criterion that measures in demonstration. Accuracy criterion means how it
closes to its path to linear line.
11. Power Consumption: evaluation of mechanism with respect to power consumption. This
criterion evaluates to fulfil the requirement how much power is consumed and whether it is
possible to supply that amount of power to Shape Memory Alloy and create required torque or
force.
12. Fulfilling the Average Speed Requirement: Criterion that evaluates whether it is possible to
reach speed which is required to fulfil design requirement value or not by using each
mechanism.
13. Fulfilling the Volume Requirement: Criterion that evaluates concepts possibility to fulfil
size requirements.
14. Manufacturability: Criterion that checks whether the whole mechanism or any part of it is
produced with using available manufacturing techniques.
15. Range of Rotation In One Cycle: Criterion for the range of angle of rotation in one cycle of
SMA wire
16. Accuracy of Rotation Angle: Criterion for the resolution of angle of rotation that mentioned
in design criteria in R2.
17. Speed of the Rotation: The time that we need to rotate the robot
1. To Heat the System
43
Table 3: Weighting factor for heating system evaluation criteria
Heating Operational The ability to Feasibility Controllability Packaging

Speed Safety
have continuous
motion
Heating Speed 1 3 0.2 0.2 3 7
Operational Safety 0.33 1 0.2 0.33 0.33 5
The ability to have 5 5 1 3 3 7

continuous motion
Feasibility 3 3 0.33 1 3 7
Controllability 0.33 3 0.33 0.33 1 7
Packaging 0.14 0.20 0.14 0.14 0.14 1
Sum 9.8 15.2 2.2 5 10.47 34
Table 4: Normalized version weighting factor for heating system evaluation criteria
The ability
to
Overall
Heating Operational Row
have Feasibility Controllability Packaging weighting
Speed Safety summation
factors
continuous
motion
Heating Speed 0.102 0.197 0.091 0.040 0.286 0.206 0.922 0.154
Operational 0.034 0.066 0.091 0.066 0.032 0.147 0.436 0.073

Safety
The ability to 0.510 0.330 0.454 0.600 0.286 0.206 2.386 0.398
have
continuous
motion
Feasibility 0.306 0.197 0.150 0.200 0.286 0.206 1.345 0.224
Controllability 0.034 0.197 0.150 0.066 0.097 0.206 0.75 0.125
Packaging 0.014 0.013 0.064 0.028 0.013 0.029 0.161 0.026
44
Sum 1 1 1 1 1 1 6 1
Table 5: Overall evaluation of concepts
Weighting Electric External Chemical

factor Current Heater reactions
Heating Speed 0.154 4 2 2
Operational Safety 0.073 3 1 1
The ability to have continuous 0.398 4 0 2

motion
Feasibility 0.224 4 4 0
Controllability 0.125 4 2 1
Packaging 0.026 3 2 1
Sum 1 3.901 1.579 1.328
Table 6: Results of overall evaluation of concepts
Electric External Chemical

Current Heater reactions
0.616 0.308 0.308
0.219 0.073 0.073
1.592 0 0.796
0.896 0.896 0
0.500 0.25 0.125
0.078 0.052 0.026
3.901 1.579 1.328
45
2. To Cool The System
Table 7: Weighting factor for cooling system evaluation criteria
Cooling Speed Operational Feasibility Cost

Safety
Cooling Speed 1 5 3 7
Operational Safety 0.2 1 0.33 7
Cost 0.14 0.14 0.14 1
Sum 1.67 9.14 4.47 22
Table 8: Normalized version weighting factor for cooling system evaluation
Overall
Cooling Operational
Feasibility Cost Row summation weighting
Speed Safety
factors
Cooling Speed 0.599 0.548 0.671 0.318 2.136 0.534
Operational
0.120 0.109 0.074 0.318 0.621 0.155
Safety
Feasibility 0.198 0.328 0.224 0.318 1.068 0.267
Cost 0.083 0.015 0.031 0.046 0.175 0.044
Sum 1 1 1 1 4 1
46
Overall Weighting
Free convection Force convection Micro-cooler
evaluation criteria factor
Cooling Speed 0.534 0 2 4
Operational Safety 0.155 4 3 3
Cost 0.044 4 1 0
Sum 1 3.448 1.888 3.402
Table 10: Results of overall evaluation of concepts
Free convection Force convection Micro-cooler
0 1.068 2.136
0.62 0.465 0.465
1.068 0.534 0.801
1.76 0.044 0
3.448 2.111 3.402
47
3. To Perform Linear Motion
Table 11: Weighting Factors for Linear Motion Evaluation Criteria
Compatible Accuracy Power Fulfilling Fulfilling

with 2D of Linear Consumption the average the volume Manufactu Packagin Operation
Motion speed requireme rability g al Safety
requirement nt
Compatible with 2D 1 5 7 3 5 3 5 3
Accuracy of Linear 0,20 1 5 0,33 5 0,33 5 3

Motion
Power Consumption 0,14 0,2 1 0,20 0,33 0,14 0,33 0,33
Fulfilling the 0,33 3 5 1 5 0,33 5 3

average speed
requirement
Fulfilling the volume 0,20 0,20 3 0,20 1 0,33 0,33 0,33
requirement
Manufacturability 0,33 3 7 3 3 1 3 3
Packaging 0,20 0,20 3 0,2 3 0,33 1 0,33
Operational Safety 0,33 0,33 3 0,33 3 0,33 3 1
2,73 12,93 34 8,26 25,33 5,79 22,66 13,99
Row Overall
Summ Weightin
Compatib Accuracy Power Fulfillin Fulfilling Manufact Packaging Operati ation g Factors
le with of Linear Consu g the the urability onal
2D Motion mption average volume Safety
speed requirem
require ent
ment
Compatible
with 2D 0,37 0,39 0,21 0,36 0,20 0,52 0,22 0,21 2,48 0,31
Accuracy of
Linear
Motion 0,07 0,08 0,15 0,04 0,20 0,06 0,22 0,21 1,03 0,13
Power
Consumptio
n 0,05 0,02 0,03 0,02 0,01 0,02 0,01 0,02 0,18 0,02
Fulfilling the
average
speed
requirement 0,12 0,23 0,15 0,12 0,20 0,06 0,22 0,21 1,31 0,16
Fulfilling the 0,07 0,02 0,09 0,02 0,04 0,06 0,01 0,02 0,33 0,04
volume
48
requirement
Manufactura
bility 0,12 0,23 0,21 0,36 0,12 0,17 0,13 0,21 1,55 0,19
Packaging 0,07 0,02 0,09 0,02 0,12 0,06 0,04 0,02 0,44 0,05
Operational
Safety 0,12 0,03 0,09 0,04 0,12 0,06 0,13 0,07 0,66 0,08
1 1 1 1 1 1 1 1 8 1
Table 12: Normalized Version Weighting Factors for Linear Motion Evaluation Criteria
Table 13: Overall Evaluation of Concepts
Natural
Slider- Wagon
Weighting V-shaped M-shaped Inchworm Ratchet Scissors
Crank
Factors Mechanism Mechanism Shape Mechanism Mechanism Mechanism
Mechanism
Mechanism
Compatible with
0,31 2 1 3 1 1 2 4
2D
Accuracy of
0,13 4 2 1 2 4 3 2
Linear Motion
Power
0,02 4 2 1 3 4 2 4
Consumption
Fulfilling the
average speed 0,16 3 2 0 2 4 2 4
requirement
Fulfilling the
volume 0,04 4 2 3 3 3 2 2
requirement
Manufacturability 0,19 4 3 0 2 3 3 4
Aesthetic 0,05 4 2 4 2 3 2 3
Operational
0,08 3 2 1 3 3 3 2
Safety
1 3,06 1,84 1,48 1,79 2,63 2,36 3,37
Table 14: Results of Overall Evaluation of Concepts
49
Natural
Slider- Wagon
V-shaped M-shaped Inchworm Ratchet Scissors
Crank
Mechanism Mechanism Shape Mechanism Mechanism Mechanism
Mechanism
Mechanism
0,62 0,31 0,93 0,31 0,31 0,62 1,24
0,52 0,26 0,13 0,26 0,52 0,39 0,26
0,08 0,04 0,02 0,06 0,08 0,04 0,08
0,48 0,32 0 0,32 0,64 0,32 0,64
0,16 0,08 0,12 0,12 0,12 0,08 0,08
0,76 0,57 0 0,38 0,57 0,57 0,76
0,2 0,1 0,2 0,1 0,15 0,10 0,15
0,24 0,16 0,08 0,24 0,24 0,24 0,16
3,06 1,84 1,48 1,79 2,63 2,36 3,37
4. To Orientate the Robot
Table 15: Weighting Factors for orientation of the body.
Fulfilling
Accuracy of Speed of
Range of Power Operational the volume
rotation the Feasibility
rotation consumption Safety requireme
angle rotation
nt
Range of
rotation in one 1 0.33 0.33 5 3 5 0.2
cycle
Accuracy of
3 1 3 7 3 5 0.33
rotation angle
Speed of the
3 0.33 1 5 3 5 0.20
rotation
Power
0.2 0.14 0.2 1 0.33 0.33 0.11
consumption
0.33 0.33 0.33 3 1 3 0.2

Operational
50
Safety
Fulfilling the
volume 0.2 0.2 0.2 3 0.33 1 0.14
requirement
Feasibility 5 3 5 9 5 7 1
Sum
12,53 5,33 9,73 33 15,66 26,33 2,18
Table 16: Normalized Version Weighting Factors for Orientation of the Body
Range
Accuracy
of Speed of Fulfilling
of Power Operational
rotation the the volume Feasibility
rotation consumption Safety
in one rotation requirement
angle
cycle
Range of
rotation in 1 0.33 0.33 5 3 5 0.2
one cycle
Accuracy of
rotation 3 1 3 7 3 5 0.33
angle
Speed of the
3 0.33 1 5 3 5 0.20
rotation
Power
0.2 0.14 0.2 1 0.33 0.33 0.11
consumption
Operational
0.33 0.33 0.33 3 1 3 0.2
Safety
Fulfilling
the volume 0.2 0.2 0.2 3 0.33 1 0.14
requirement
Feasibility 5 3 5 9 5 7 1
Sum
12,53 5,33 9,73 33 15,66 26,33 2,18
51
Rack and Relative Half Full

Weighting Double Rotational
Pinion Velocity Excavator Spin Spin
Factor Scissors Spring
Mechanism Control Rotor Rotor
Range of
rotation in 0,11 4 1 3 2 4 3 4
one cycle
Accuracy of
rotation 0,21 4 1 4 3 3 4 4
angle
Speed of the
0,15 3 2 3 4 3 4 3
rotation
Power
0,03 2 3 2 4 1 4 3
consumption
Operational
Operational 0,07 4 2 3 2 1 4 4
Safety
Fulfilling
the volume 0,04 2 4 2 2 2 3 2
requirement
Feasibility 0,40 3 4 3 2 1 3 2
Sum 1 3,35 2,61 3,17 2,59 2,1 3,49 2,98
Table 18: Results of Overall Evaluation of Concepts
Rack and Relative Half Full

Double Rotational
Pinion Velocity Excavator Spin Spin
Scissors Spring
Mechanism Control Rotor Rotor
0,44 0,11 0,33 0,22 0,44 0,33 0,44
0,84 0,21 0,84 0,63 0,63 0,84 0,84
0,45 0,3 0,45 0,6 0,45 0,6 0,45
0,06 0,09 0,06 0,12 0,03 0,12 0,09
0,28 0,14 0,21 0,14 0,07 0,28 0,28
0,08 0,16 0,08 0,08 0,08 0,12 0,08
1,2 1,6 1,2 0,8 0,4 1,2 0,8
3,35 2,61 3,17 2,59 2,1 3,49 2,98
52
Overall Concepts
Concept#1
Electric current is used to heat system, free convection is used to cool system, M-Shaped
mechanism is used to perform linear motion and rack and pinion mechanism is used to orientate the
robot.
Concept#2
Electric current is used to heat system, free convection is used to cool system, Scissors
Mechanism is used to perform linear motion and double scissors mechnansim is used to orientate the
robot.
Concept#3
Electric current is used to heat system, free convection is used to cool system, V-Shaped
mechanism is used to perform to linear motion and excavator system is to orientate the robot.
Concept#4
Electric current is used to heat system, free convection is used to cool system, V-Shaped
mechanism is used to perform to linear motion and relative velocity control is used to orientate the
robot.
Concept#5
Electric current is used to heat system, free convection is used to cool system, M-Shaped
mechanism is used to perform linear motion and half spin rotor mechanism is used to orientate the
robot.
Concept#6
Electric current is used to heat system, free convection is used to cool system, wagon
mechanism is used perform linear motion and rotational spring is used to orientate the robot.
53
Table 19: Weighting Factors of overall evaluation criteria.
Accurac Fulfilling
Accurac y of Range the Fulfilling
Power
y of Rotatio of Average the Volume Manufacturabili Packagin Operation
Consumptio
Linear n rotatio Speed Requireme ty g al Safety
n
Motion n Requireme nt
nt
Accuracy of 3
1 3 0,33 5 0,33 5 3 5
Linear Motion
Accuracy of 1
0.33 3 0.33 5 0.33 5 3 5
Rotation
Range of 0.33
0,33 1 0,33 5 0,33 3 3 5
Rotation
Fulfilling the 3
Average Speed 3 3 1 5 0,33 5 3 5
Requirement
Fulfilling the 0.2

Volume 0,2 0,2 0,2 1 0,2 0,33 0,33 3
Requirement
Manufacturabili 3
3 3 3 5 1 3 3 7
ty
Packaging 0,2 0.2 0,33 0,2 3 0,33 1 0,33 3
Operational 0.33
0,33 0,33 0,33 3 0,33 3 1 3
Safety
Power 0.2
0,2 0,2 0,2 0,33 0,14 0,33 0,33 1
Consumption
Sum 13,26 14,06 8,59 34,33 5,99 25,66 18,99 39
54
Table 20: Normalized Version Weighting Factors of overall evaluation criteria
Accurac Fulfilling the

Accurac Range Fulfilling the
y of Average Power Row Overall
y of of Volume Manufacturabilit Packagin Operationa
Rotation Speed Consumptio Summatio Weightin
Linear rotatio Requiremen y g l Safety
Requiremen n n g Factor
Motion n t
t
Accuracy of
0,075 0,213 0,069 0,038 0,146 0,055 0,195 0,158 0,128 1,077 0,12
Linear Motion
Accuracy of
0,025 0,071 0,115 0,038 0,146 0,055 0,117 0,158 0,128 0,913 0,101
Rotation
Range of Rotation 0,377 0,213 0,348 0,349 0,204 0,501 0,195 0,263 0,179 2,629 0,292
Fulfilling the
Average Speed 0,226 0,213 0,115 0,116 0,146 0,055 0,195 0,158 0,128 1,392 0,155
Requirement
Fulfilling the
Volume 0,015 0,014 0,049 0,023 0,029 0,033 0,013 0,017 0,077 0,27 0,03
Requirement
Manufacturabilit
0,226 0,213 0,115 0,349 0,146 0,167 0,117 0,158 0,179 1,67 0,186
y
Packaging 0,015 0,023 0,069 0,023 0,087 0,055 0,039 0,017 0,077 0,405 0,045
Operational
0,025 0,023 0,069 0,038 0,087 0,055 0,117 0,052 0,077 0,543 0,06
Safety
Power
0,015 0,014 0,049 0,023 0,009 0,023 0,013 0,017 0,026 0,189 0,021
Consumption
Sum 1 1 1 1 1 1 1 1 39 9 1
Weighting
Concept#1 Concept#2 Concept#3 Concept#4 Concept#5 Concept#6
Factor
Accuracy of Linear
0,12 4 3 4 1 4 3
Motion
Accuracy of
0,101 4 2 3 1 4 2
Rotation
Range of Rotation 0,292 3 3 4 2 3 2
Fulfilling the
Average Speed 0,155 3 3 4 3 3 2
Requirement
55
Fulfilling the
Volume 0,03 2 4 2 4 2 3
Requirement
Manufacturability 0,186 3 4 4 3 3 3
Packaging 0,045 2 3 4 2 2 2
Operational Safety 0,06 4 2 3 2 4 1
Power Consumption 0,021 2 4 2 3 3 1
Sum 1 3,215 3,106 3,777 2,221 3,236 2,275
Table 21: Results of overall concepts
Concept#1 Concept#2 Concept#3 Concept#4 Concept#5 Concept#6
0,48 0,36 0,48 0,12 0,48 0,36
0,404 0,202 0,303 0,101 0,404 0,202
0,876 0,876 1,168 0,584 0,876 0,584
0,465 0,465 0,62 0,465 0,465 0,31
0,06 0,12 0,06 0,12 0,06 0,09
0,558 0,744 0,744 0,558 0,558 0,558
0,09 0,135 0,18 0,09 0,09 0,09
0,24 0,12 0,18 0,12 0,24 0,06
0,042 0,084 0,042 0,063 0,063 0,021
3,215 3,106 3,777 2,221 3,236 2,275
56
IV. BEST CONCEPT
Electric
Current
LabVIEW Free
Interface Convection
BEST
CONCEPT
Wired V Shape
Control Mechanism
Excavator
The aim of this project is to design a SMA actuated inchworm robot able to move in 2D. After
defining the sub-functions and related solutions, different concepts are constructed. Considering our
design specifications and also some important design criteria, a chart for the concept evaluation
process is created. Each concept is evaluated and at the end a best concept is chosen as a combination
of electric current, free convection, V shape mechanism, excavator, wired control and LabVIEW
interface. These solutions for each sub-function are chosen with respect to resulting table data. The
concept having the highest value is chosen for best concept.
The most important sub-functions for our projects are linear motion and rotation of robot. In addition,
it is necessary to integrate them. For that purpose, V shape mechanism having a rack and pinion
mechanism, charge of rotation of the link at the front, in the link at the back was chosen. It is named as
excavator. Instead of positioning rack and pinion mechanism in a link, a body was introduced and that
mechanism was placed inside the body. Therefore the packaging criterion was also satisfied with this
improvement. The representative 3D drawing of excavator was also drawn by using CATIA. The
dimensions were chosen with respect to weight and height criteria mentioned in R2 and also
considering the commercial products about this project.
Considering other chosen concepts, SMA wire is activated due to electrical current to move the link at
the front and the connection of SMA wire and voltage source is due to electric wire. Moreover,
LabVIEW is used as an interface and a controller with the motivation of the course instructor.
57
V. SUMMARY AND CONCLUSION
In this report, three main tasks are done. In the first stage, the concept development was performed by
making a functional decomposition and then a morphological chart having three main functions. The
other functions of the system were defined as sub-functions of these three main functions. In the
brainstorming workshop, alternative solutions for the sub-function of generation of concepts to get
inchworm motion in one direction were derived and developed by all group members. Then, also other
sub-functions were discussed and another brainstorming session was performed among the group
member. After combining them in logical ways, several concepts were developed. All features of the
concepts were explained considering the sub-functions. Hand sketches for the concepts were drawn
and concepts features were shown on these sketches. After concepts were generated and explained,
concept evaluation techniques were performed to get the most preferable concept.
In the evaluation process, weighting factor tables, overall evaluation of concept tables and result of
them for each sub-function were created. These tables were performed by selecting a datum concept
and then, the other concepts were voted according to that datum. Then, to verify the results, a different
concept was selected as datum and the other concepts were voted according to that new datum. The
final evaluation is done considering the weighting factors of each evaluation criteria and after this
most accurate evaluation, the best concept, excavator, was introduced. It consists of the concepts
having the highest values after ranking which are electric current, free convection, V shape
mechanism, excavator, wired control and LabVIEW interface. It has a body attached to link at the
back and a SMA actuated link at the front. The rack and pinion mechanism, responsible of rotation of
the link at the front, is positioned inside the body.
58
11.5 R5 REPORT
DETAILED DESIGN
I. INTRODUCTION
In this report, design of an inchworm robot using shape memory alloy as an
actuator is elaborated. To successfully perform this, first of all, a literature
survey was done about whether this design is feasible or not. Then the
specifications of the design were determined and project planning and
management topics were arranged. Finally, conceptual design was decided. After
all of these processes were done, properties of designed system, which includes
operating principle, important aspects of the design, and systems and subsystems
of the design are explained. Afterwards, engineering calculations and analysis
such as, force, strength and failure; and their results are presented with the help
of Mathcad, CATIA and ANYSY programs. Then main frame for inchworm robot
is determined. In addition to that, all required materials are listed considering
their cost and a brief explanation about control system of design and software
that will be used in future design process given place to in this report. After that,
system to be manufactured is explained and discussion is made about the results.
Engineering drawings, program costs, material list, production planning,
computer codes, analysis results and cost calculations are also mentioned at the
end of the report, appendixes part.
II. PROPERTIES OF DESIGNED SYSTEM

II.I Operating Principle
In this project, an inchworm robot actuated with shape memory alloys is

designed. Moreover, our robot is designed in such a way that it can perform 2D
motion on a horizontal smooth plane. To succeed in these actions, following
operating principles are considered. SMA helical spring is connected in an
elongated version to the front and rear leg of robot. When the SMA spring is
activated with the electrical current, it recovers its shape and the back leg and
the body which is connected to the back leg move in forward direction. Due to
torsional spring positioned between the legs, the front leg step further. So the
linear motion is performed by means of repetition of these processes. Focusing on
the orientation of the robot, a rack and pinion mechanism is situated inside the
body. There are two SMA helical springs and two bias springs connected to the
two sides of rack symmetrically. These SMA springs are also connected in an
elongated so the activated one moves the rack in a direction which it recover its
shape. With the movement of rack pinion also moves and since the pinion is a
part of the rear leg legs would be turn right or left according to the activated
SMA spring. Right after turning, the SMA helical spring connected to legs is
activated; thus, a step in the dictated direction is obtained. When the voltage on
the SMA spring deactivate, with the help of torsional spring back leg and body
would have a curvilinear movement. Then repetition of the process of activation
59
and deactivation of the SMA spring between the legs provides a travelling on the
direction which pinion dictated.
II.II Important aspects of design
There are many unique aspects in this inchworm project. One of them is
considering the similar shaped SMA actuated robots; that is, V shape legs,
existing designs can only perform linear motion; they cant rotate. So our design
has a capability of turning right and left with a prescribed angle; therefore, it is
more advantages in terms of directional freedom. However, our design doesnt
follow curvilinear path and can only rotate a prescribed angle. So it couldnt
perfectly follow a freely sketched path. Another aspect is that we use torsional
SMA spring in addition to SMA helical spring for linear motion. On the other
hand, substantial designs have SMA wire-bias spring, SMA helical spring-
torsional spring, SMA wire-torsional spring or only SMA wire couples for forward
motion. Another unique aspect is the working principle of rack and pinion
mechanism positioned inside the body. With the actuation of one of the SMA bias
spring connected to the rack, legs rotate with the designated angle but body
keeps its position. Rotation of body is due to actuation of torsional SMA spring
which is actuated after actuation of the bias spring between the legs; that is,
after the front leg moves in forward direction. Considering the existing rack and
pinion mechanisms, in robotic SMA actuated mechanism havent been used. But
only NASA used SMAs in rack and pinion mechanism in such a way that SMA
wire is connected one side of the rack and a bias spring is connected the other
side of rack. It is designed to get an electrically powered rotary actuator that has
higher torque density than conventional gear motors. Thus, two identical SMA
bias springs with two identical bias springs connected symmetrically to the rack
part of the mechanism is never used before. This unique design has some
difficulties such as connection of the spring must be very precise not to effect the
travelling direction of the robot. Moreover, rotation of the body with the actuation
of the torsional SMA actuator requires attentive analysis since robot can topple,
move unexpectedly or just cant move. Another important aspect is that, since the
inchworm robot moves on a single horizontal plane instead of moving in between
two parallel plates, friction forces become more important. To perform inchworm
motion, theoretically one of the legs should be frictionless while the other one is
frictional. Considering the patent we mentioned in R1 report, a special pad can
be integrated to the front leg of the inchworm robot. Some portion of this pad is
made of less frictional coefficient material and the other part is made of high
frictional coefficient material.
II.III The system and subsystems
Inchworm robot mainly comprises of two links which are connected to each other
by bearing, a body, a rack and pinion mechanism inside the body and 2 wheels
attached to the body symmetrically. Bearing is chosen because of fact that it
60
provides minimum clearance comparing to other systems. Since it is crucial for
the inchworm robots legs to rotate with an angle, connecting between front and
rear leg should be chosen in a way that it enables to move in forward direction;
that is, it shouldnt create excessive friction while forward motion. However,
during rotation, legs must act as a rigid body to perform rotation with a desired
angle. Considering all of these requirements, bearing is found most suitable. In
addition to that, as mentioned before we have two SMA bias springs, a SMA
torsional spring and two bias springs. It is also stated in important aspects of
design part that connection of SMA springs and bias springs should be very
precise. Clips or glue which are resistant to heat can be used. Comparing there
two, clips connection can be damage the SMA; on the other hand, glue may no
harm them but they may not be able to hold the SMA under high forces.
Moreover, a special pad is used in the bottom of the leg such that front portion of
this pad is made of less frictional material while back portion of this pad is high
frictional. Necessity of this special path is understood when working mechanism
is decided. It is desired that front leg should easily move forward but it cannot
move backward direction then rear link attached to the body must move with the
actuation of torsional spring. With this application the anticipated forward
motion is obtained. Another crucial subsystem is wheels. We should connect
wheels by using one way bearings in order to achieve one directional motion.
III. ENGINEERING CALCULATONS
III.I Kinematic Analysis
Quasi-static equilibrium force model is used for the project.

Front Leg (Link 1)
Where
a1 = 1,7 cm
b1 = 2 cm
L1 = 25 cm
61
Rear Leg (Link 2)
Where
a2 = 1.66 cm
b2 = 1 cm
L2 = 17,1 cm
Body (Link 3)
Where
a3 = 7 cm
b3 = 11 cm
L3 = 6 cm
III.I.I Kinematic Analysis for Linear Motion
KNOWN VALUES
L1 = 25 cm L2 = 17 cm
1, min = 15o = 0.262 rad 2, min = 37o = 0.645 rad
1, max = 35o = 0.611 rad 2, max = 54o = 0.645 rad
62
Equatons :
xlinear = L1*(sin 1,max - sin 1,min ) + L2*(sin 2,max - sin 2,min ) where L1 = 25 cm and L2 =
17 cm
vlinear = xlinear /t where t = theating + tcooling = 1.589+4.282 = 5.871
Result :
xlinear = 11.39 cm
vlinear = 1.94 cm/s
III.I.II Kinematic Analysis for Rotational Motion
Equatons :
xrack = Lsma,max - Lsma,min where Lsma,max = 3 cm and Lsma,min = 1.883 cm
-pinion = xrack /R
Result :
0 < -pinion < 42.66o
III.II Kinetic Analysis
Detailed calculations are in Appendix part IX.Engineering Calculations
III.II.I Kinetic Analysis for Linear Motion
III.II.I.I Free Body Diagrams for Linear Motion

While Legs Closing
63
Table1: Force Analysis Results of Linear Motion for Closing Legs
= 25 deg = 30 deg
= 15 = 20 = 35
deg deg
deg
Fsmacoil 2.144 1.999 1.939 1.937 1.981
N1 0.466 0.584 0.654 0.69 0.695
N3 5.707 5.125 4.623 4.188 3.814
Fx1 0.193 0.187 0.124 -0.01 -0.157
Fy1 2.397 2.441 2.455 2.46 2.47
While Legs Opening
64
Table2: Force Analysis Results of Linear Motion for Opening Legs
= 15 deg = 20 deg = 25 deg = 30 deg

= 35
deg
Fsmatorsion -0.081 -0.969 -1.327 -1.533 -1.684
N1 8.302 5.584 4.47 3.84 3.426
N3 -0.33 1.925 2.803 3.295 3.637
Fx1 -0.551 -1.454 -1.803 -1.976 -2.067
Fy1 -4.084 -1.003 -0.393 1.28 1.944
This torsinal spring is used to hasten of opening legs without torsinal spring leg would open
already this why values are negetive.
65
III.II.II Kinetic Analysis for Rotational Motion
III.II.II.I Free Body Diagrams for Rotational Motion
Rack & Pinion
Where
Rp = 1,5 cm
LR = 4,5 cm
While Rotating
Table3: Force Analysis Result of Rotational Motion
= 15 deg = 22.5 deg = 30 deg
Fsma 1.106 1.224 1.342
Fspring 0.118 0.177 0.236
As it can be seen fromthe table, increasing results in inreased F sma.

66
III.III Failure Calculations
III.III.I Tipping Calculations
Top View of Robot When It Rotates
Detailed calculations are in Appendix part IX.Engineering Calculations
Table4: Force Analysis Result of Tipping Motion While Rotating
N1 4.122
N31 2.258
N32 2.258
Since all the reaction values are possitive the system would not tipp.
67
III.III.II Sliding Calculations
FREE BODY FOR FRICTIONAL FORCE
Fs1
Fs2
Fs
Lsupport Fs
68
FREE BODY FOR FRICTIONAL MOMENT
Fs
Fs
Fs
Fs
Lsupport
Table5: Force Analysis Result of Linear Sliding Motion While Rotating
FSR 0.903
Lsupport 9.591
69
Since friction force of front leg Fs> FsR (resultant friction force of body) front leg will not slide.
Also to prevent rotation of front leg also moment of friction should be balanced. To achive that
distance between contact points is calculated as x=9.591cm.
III.IV. Design Decisions
Table-8 (Analysis Planed to be made)
1-D Force
To find required SMA linear actuator's force Analysis
2-D Force
To find required SMA rotational actuator's force Analysis
To find whether the robot fall over or not while rotationary motion Tipping Analysis
To find whether the robot slide or not while body moving forwad after
rotation Sliding Analysis
Table-9 (Design Desicions) Force of SMA linear Actuator(N) Force of SMA torsinal spring (N) Force of SMA rotationary Actuators (N) Force of Bias Spring
Material Selection
For Plastic (=2 g/cm^3 ) 0.703 -1.596 1.034 Not Avaliable
For Aluminum (=2.7 g/cm^3 ) 0.948 -2.154 1.149 Not Avaliable
For Steel (=7.8 g/cm^3 ) 2.74 -6.223 1.984 Not Avaliable
Rear Wheel Selection
With rear wheels 0.703 -1.596 1.034 Not Avaliable
Without rear wheels 1.588 -1.596 1.034 Not Avaliable
Usage of Bias or SMA springs
Using one Sma one Bias spring 1.523 Not Avaliable 1.034 0.787
Using two Sma spring 0.703 -1.596 1.034 Not Avaliable
Connection place of linear SMA actuator
One end at 2/3 of L1 - other end 1/3 of L2 from point O 0.703 -1.596 1.034 Not Avaliable
Table-10 (Final Design Decisions) Force of SMA linear Actuator(N) Force of SMA torsinal spring (N) Force of SMA rotationary Actuators (N) Force of Bias Spring
Material Selection
For Plastic (=2 g/cm^3 ) 0.703 -1.596 1.034 Not Avaliable
Rear Wheel Selection
With rear wheels 0.703 -1.596 1.034 Not Avaliable
Usage of Bias or SMA springs
Using two Sma spring 0.703 -1.596 1.034 Not Avaliable
Connection place of linear SMA actuator
To find best solution different cases of critical parts are been analyzed. According these
analyses result tables are created. Best solutions are found with using these results.
70
IV. ANALYSIS RESULTS
IV.I Finite Element Analysis- Structural Analysis

Front Leg
The front leg that was drawn in CATIA is shown in ANSYS. Forces that are taken from
Force Analysis are simulated in ANSYS. It is observed that the system has no errors and
it is safe. Also the width of the front leg is appropriate for the movement.
Figure 1: Shear Stress of Front Leg
Back Leg
Similar to the observation for the Front Leg, it is observed that the safety is also
delivered without any errors. The width of the Back Leg is also suitable for the
movement.
Figure 2: Shear Stress of Back Leg
71
Body
Figure 3: Shear Stress of Body

Pinion
Figure 4: Shear Stress of Pinion
Rack
Rack and pinion did not cause any problems for the rotational motion.
Figure 5: Shear Stress of Rack
Our finite element analyses show that our design is safe.
72
IV.II Thermomechanical Analysis
Properties of nitinol spring, transformation temperatures, shear moduli of martensite

and austenite phase and shape memory alloy properties are needed to perform analyze
so the necessary numerical values used in this analyze are listed in figures.
Transformation Temperatures
Martensitic start temperature (Ms)=80C
Martensitic finish temperature (Mf)=45C
Austenitic start temperature (A s)=74C
Austenitic finish temperature (A f)=95C
Shear Moduli of Martensite and Austenite

Gm=7.5 Gpa
Ga=25 Gpa
SMA Properties for Analysis of Electrical Activation of SMA

Resistivity=76 .cm
hc=150 J/(m2).C.sec
=6450 kg/m3
cp=0.2 kcal/kg.C
Transformation temperatures and Shear Moduli are important parameters for

thermomechanical analysis of SMA spring. Transformation temperature values are
taken from our Nitinol spring catalog. Shear Moduli of Martensite and Austenite
parameters are generic values. However, we will find out them by performing standart
stress strain test method.
SMA properties are generic values. These are used for calculating required heating and
cooling times.
73
IV.II.I Thermomechanical Analysis of Nitinol Spring Used for Linear
Motion
Table of SMA Design Decisions Used for Linear Motion

States # of Turns Wire Diameter Initial Stretch
1 50 0,25mm 0,04m
2 50 0,5mm 0.04m
3 50 0,5mm 0,02m
4 25 0,5mm 0,04m
Output Force vs. Temperature Under the Constraint of Displacement

for Linear Motion
6
4
State
1
F (N)
3 State
2
State
2
3
State
1 4
0
40 45 50 55 60 65 70 75 80 85 90 95 100
T (C)
In order to move our inchworm robot, at least 0.703 N is required from Nitinol spring.
Different variations are analyzed in order to choose the best case. It is observed that
state 2 is the best case for linear motion mainly because state 3 and 4 are not sufficient
to generate required force and state 1 exceeds force requirements.
74
It can be seen from tables and graphs above that minimum temperature required to
reach desired force for linear is 60C.
Cooling the SMA to the ambient temperature leads to time loss. For this reason, SMAs
are cooled to 40C by free convection.
Final Design Decisions
SMA Spring Final Design Decisions Used for Linear Motion
Number of Turns 50
Wire Diameter 0.5 mm
Initial Stretch 0.04 m
Temperature Changing Range of SMA Spring Used for Linear 40C 60C
Motion
75
IV.II.II Thermomechanical Analysis of Nitinol Spring Used for Rotational Motion
Table of SMA Design Decisions Used for Rotational Motion

States # of Turns Wire Diameter Initial Stretch
1 25 0,25mm 0,0117m
2 50 0,25mm 0.0117m
3 25 0,5mm 0,0117m
4 50 0,5mm 0,0117m
Output Force vs. Temperature Under the Constraint of Displacement

for Rotational Motion
1,6
1,4
1,2
1 State
F (N)
0,8 1
State
0,6 2
0,4 State
3
0,2
0
40 45 50 55 60 65 70 75 80 85 90 95 100
T (C)
In order to rotate our inchworm robot, at least 1 N is required from Nitinol spring.
Different variations are analyzed in order to choose the best case. It is observed that
state 3 is the best case for rotational motion mainly because state 1, 2, and 4 are not
sufficient to generate the required force.
Our inchworm robot has a rotation capability of 45 from both sides which brings initial
stretch to the fixed value that is stated in table above.
After selecting appropriate states, one should choose the best temperature range to
reach optimum heating and cooling time to maintain motion in a cyclic manner.
76
It can be seen from tables and graphs above that minimum temperature required to
reach desired force for rotational motions is 80C.
Cooling the SMA to the ambient temperature leads to time loss. For this reason, SMAs
are cooled to 40C by free convection.
Final Design Decisions
SMA Spring Final Design Decisions Used for Rotational Motion
Number of Turns 25
Wire Diameter 0.5 mm
Initial Stretch 0.00117 m
Temperature Changing Range of SMA Spring Used for 40C 80C

Rotational Motion
77
IV. III Failure Analysis
IV. III.I Tipping Analysis
Tipping is checked considering the reaction forces N1, N31 and N32; that is, positive
reaction forces mean that there wouldnt be tipping. Thus, they is found as N1=4.122,
N31=2.258 and N32=2.258 Then it can be concluded that tipping wont be observed for our
design. As calculated in engineering calculation parts.
IV. III.II Sliding Analysis
To find whether front leg is slide or not sliding analysis is performed. While doing these
calculations body is assumed as doing sliding motion and necessary friction force and
friction moment to fix front leg where it is, is calculated. According to calculation results
friction force of front leg found as Fs=1.855N and resultant friction force of body found as
FsR=0.903N. Since friction force of front leg is greater than resultant friction force of body
we can say that front leg will not slide during rotation. Moreover front leg should be
turned either while rotation. To check that also frictional moment is calculated and
using this data distance between contact point of front leg is calculated as
Lsupport=9.591cm. Frictional pad design has been made according to this.
IV. III.III Fatigue Analysis
For our design project of designing an inchworm robot using shape memory alloy
actuators, failure is an important aspect since we specified a life cycle for our robot. In
our design, three NiTi helical springs are used. Two of them is identical and positioned
in the body of our robot symmetrically while the other one has a larger diameter and
connected between the legs of our robot with an inclination. There exist also two
identical bias springs in the body.
In order to determine the life cycle of our robot we need to focus on failure of nitinol
springs because our robot is not needed to carry much load which cause fracture. For this
purpose, we search for an analytical model of fatigue analysis of nitinol springs.
Considering the knowledge obtained from these searches, it is observed that in general,
an experimental set up was conducted and the fatigue analysis were performed based on
them and also for some studies they assumed as an ideal helix and analyses were done
by these assumption with the help of some programs such as Abaqus. Thus, there is no
specific proven equations derived for SMA helical spring; it is still a topic needs to be
developed In one of the papers that we found, it is stated that because of the varying
quality of NiTi material, a correct theoretical method for modeling the fatigue behavior
is nearly impossible to develop [1]. Moreover, in this paper, it is referred that
experimental analysis by the authors over 5.000 activations reveals that there are
logarithmical coherences between actuator behavior and working cycles. Other
researches show that the boundary conditions, like the surrounding medium or loads
effect the fatigue of SMAs. For correct control of shape memory systems, a regulating
system has to count the driven cycles, and change the transfer functions in according
functional fatigue. Hence algorithms calculating fatigue behavior are needed. However,
78
it is nearly impossible to develop a correct theoretical method for modelling the fatigue
behavior due to varying quality of NiTi material. For this reason, we make contact with
the producing company to learn existing fatigue and life cycle analysis and their results.
They guaranteed that SMA springs which are used in our project have 1000000 life cycle
according to their experimental results.
IV. IV.II.I Functional Fatigue Failure Analysis
It is stated in a book of G. Eggeler, E. Hornbogen, A. Yawny, A. Heckmann, M. Wagner

that during the working life, SMAs accumulate micro-structural defects and nanoscale
precipitates which might induce significant modifications in functional properties, this
can happen much before the structural failure. So it is needed to focus on the problem of
functional fatigue, as failure to perform the expected work or describe the expected
stress-strain-temperature designed trajectories after a number of cycles. Thus, we also
consider the thermos-mechanical failure for our SMA helical springs.
It is also an important point that fatigue behavior of Nitinol wire differs from the Nitinol
helical spring since SMAs are in general very sensitives to previous thermo-mechanical
treatments. In the study of CH. Grosmann, J. Frenzel, V. Sampath, T. DEPKA, and G.
Eggeler, they focus on the functional properties of NiTi-based spring actuators which
they have shaped by cold work. The functional properties of NiTi-based spring actuators
are affected by cold work, alloy composition, and thermo-mechanical cycling. Cold work
results in a smaller exploitable stroke but also in better cyclic stability. Moreover, they
also compare additional Cu composition to NiTi and its improvement on the properties of
actuator and conclude that adding Cu to NiTi (replacing Ni) improves cyclic stability,
and precycling for several hundred cycles stabilizes the displacement/ temperature
characteristics of an actuator.
79
In the figure b represents undeformed material, d represents intermediate cold work and
f show the strong cold work prior to spring shape setting. As it can be seen, increase in
cold work causes decrease in stroke while resulting in longer life.
80
Above figures demonstrate the NiTiCu-10-1 alloy shaped by different cold work states.
Comparing them with the NiTi, they have larger strove and longer life. Thus NiTiCu is
more advantages than NiTi. The data is rationalized by straight lines with positive
slopes that they refer to as cx,A (evolution of the shortest spring extension xA (austenite))
and as cx,A (evolution of the longest spring extension xM (martensite)) up to 500 cycles.
Higher/lower cx,A and cx,M values indicate a lower/higher cyclic geometric stability,
respectively. As can be seen from figures, the pairs of straight lines from each
experiment is nearly parallel and, therefore, they characterize each experiment by one,
single cx value.
81
IV. IV.II.II Structural Fatigue Failure Analysis
Although it is stated in functional failure topic that structural failure happens after
functional one, it is also an essential aspect needs to be considered. In the study of P.
Sedlak, M. Frost, A. Kruisova , K. Hirmanova, L. Heller, and P. Sittner, simulations of
mechanical response of NiTi helical spring and its relation to fatigue resistance were
discussed. For simulation as mentioned before Abaqus program was used and Sma
helical spring considered as an ideal helix. In addition, for mechanical testing, a self-
made device was built up. Thermo-mechanical coupling and temperature changes can
affect significantly the mechanical response of the spring [5]. To ensure isothermal
conditions and good heat transfer, samples were measured in water bath with controlled
temperature. Although they were not able to detect temperature directly on the wire
surface due to a low wire diameter, the isothermal condition was checked indirectly by
studying the effect of loading speed on the mechanical response of the spring. Thus; it is
found in this study that sudden drop in the fatigue resistance is related to the start of
martensitic transformation at the most loaded spring part. As loading reaches amplitude
in which periodic change of martensite volume fraction is approx. 1%, number of cycles
to failure drops by two orders. Subsequent increase of loading amplitude has only a
moderate effect and leads to slow decrease of the spring lifetime. This sudden drop of
fatigue resistance and sharp boundary between long- and short-life regimes could be
probably attributed to inhomogeneous development of martensitic phase transformation
and localization of martensite nucleus within austenite/R-phase region, but additional
experimental observation and theoretical analysis are needed to verify this explanation.
The progress of the mere R-phase transformation (without occurrence of martensitic
transformation) does not reduce the fatigue resistance. Moreover, due to significantly
lower elasticity of R-phase, its presence in material in cyclic loading can considerably
extend range of stroke amplitudes guaranteeing long-life performance of the spring.
82
V. DISCUSSION OF CONTROL ALGORITHMS AND SOFTWARE
START
Forward Motion Rotation
Open legs For turning right, For turning left,

(Activate activate left side activate right
torsional spring) spring side spring
Wait for cooling

Wait for cooling Wait for cooling
of torsional
of helical spring of helical spring
spring
Close legs
(Activate helical
spring in
between legs)
Wait for cooling

of helical spring
The main object for the control part of this project is synchronization of activation
of springs. When user pushes the forward button, loop must be complete although
user does not keep pushing the button because the robot does rotational motion
when the legs are closed. Moreover, we need to calibrate the time that we give
the current to the system and cooling time to determine delay in the loop. The
activation and the cooling times are different for different SMA springs.
Moreover, they will change with ambient temperature. However, activation time
and cooling time might be slightly more than average not to be affected too much
by change in ambient temperature. For rotational motion, the user has two
options that turn right or turn left. For example, left spring activate and pull the
rack to left and legs will rotate to right by pinion. Hence counter spring will be
activated when user wants to rotate the legs. Moreover, there should be delay to
give some time for cooling purpose. We put this delay time due to release the
activated spring. After delay, user may change the direction of rotation by
83
pushing the other button. In addition to that user should press the forward
button to move the robot after selecting the direction of rotation.
The data acquisition card from National Instruments is used to activate the SMA
springs. However, we need high current values to heat the springs and the data
acquisition card cannot stand such a high current value. Therefore we will use
relays as switches and to control the relays we will use L293D motor driver. We
can drive four relays by using L293D. Moreover, LabVIEW will be used to
manage user interface and control the robot.
VI. SYSTEM TO BE MANUFACTURED
The design system will be analyzed part by part for manufacturing process.
VI.I Links
Material selection of links is performed by considering the force analysis. As it can be

seen from the table conducting by neglecting SMA forces, using plastic as a link material
is the most suitable selection for our design because we need smaller force to perform
desired motion. Moreover, considering the weight requirement, plastic is also the most
advantages due to fact that we have lighter links. Manufacturing of links is done at 3D
printer at our ME407 laboratory so acceptable tolerances would be achieved.
Density of Force of Force of Force of

material, SMA Linear SMA SMA
Material
[g/cm3] Actuator[N] Rotational Torsional
Selection
Actuator[N] Spring[N]
Plastic 2 0.703 -1.596 1.094
Aluminum 2.7 0.948 -2.154 1.149
Steel 7.8 2.74 -6.223 1.984
VI.III Rack & Pinion
Rack and pinion mechanism is one of the essential parts because it is responsible for the
rotation of the inchworm robot. Two identical SMA springs and two bias springs are
connected to the rack symmetrically with the help of clips or glue. As mentioned in
important aspects of design part that connection of SMA springs and bias springs should
be very precise that is why we use clips or glue. Plastic is selected as a material of rack
and pinion mechanism due to fact that it is more light and easy to manufacture. It can
be also manufactured in 3D printer. In addition, bedding of mechanism is done in the
slot of body.
VI.II Body
Body material is also chosen considering electrical insulation of the system, force
analysis and weight requirement. Without electrical insulation, shortcut can be observed
and system is not electrically safe. Moreover, dimensions are selected by paying
attention to ease of connection of springs, packaging requirement and by looking the
84
rack and pinion dimensions since this mechanism is positioned inside the body. So, it
must be sufficiently large to embody cables and symmetrically connected springs. CAD
design of body including rack and pinion mechanism is sketched to observe the location
of each element inside the body. It is manufactured in 3D printer.
VI.IV Wheels
There are two wheels connected symmetrically to the body of the robot. The number is
chosen as two for the balance of the robot. Connection of wheels is done by frictionless
one way bearing.
VI.V Pad
As it is mentioned in the patent part of R1 report, we use rubber for the front portion of
pad while teflon film for the back portion. The reason why this kind of special pad is
used is stated in the important aspects of the design part.
For R=83mm, and w=80mm; A=4635.6mm2
VI.VI Bearings
Six bearing are used. Two of them are frictionless one way bearing for the wheels. They
are used to prevent backlash motion. Other ones are roller bearings for the front and
rear link connections. It is used to minimize clearance and friction. Dimensions of the
bearings are not so important because they are used only for ease of motion. Using
different dimensions do not affect the operation of the robot.
VI.VII SMA Helical Spring
Since we do not need large force but need high resistance, small diameter springs are
selected. According to experiments we made, large diameter springs need much time to
heat and cool. For this inchworm project NiTi SMA is used and our helical spring have
following features;
Mandrel size: 4.75mm
Wire diameter: 0.5mm
Transition temperature: 80C
Unit length: 25.4mm
Pitch: 0.5mm
VI.VIII SMA Torsional Spring
We use SMA torsional spring instead of bias torsional spring because of the fact that in
passive phase of SMA torsional spring, it does not force legs to stay in open position. We
have 90 and 180 SMA torsional springs. 180 is more suitable for our purpose since
considering the analysis, the angle between front and rear link is in between 90-180 for
85
open position. For this inchworm project NiTi SMA is used and our helical spring have
following features;
Wire diameter: 0.5mm
Transition temperature: 80C
VII. DISCUSSIONS AND CONCLUSIONS
All the design procedure is conducted clearly and systematically. The dimensions and the
materials of the inchworm robot are determined by performing kinematic, kinetic and
structural analysis. First of all, force analysis of the robot was done and necessary SMA forces
were calculated. Then, thermomechanical analysis of SMA nitinol spring done because they
are our main and the only actuators and it is crucial to decide whether the SMA force we got
from the force analysis would really be created by electric current or not. We decided to
change some necessary part in our conceptual design. We understood that pad should be
larger than the previous one by making use of force analysis results an also pad shaped as a
sled because it prevents backlash while rotation of the robot. Furthermore, instead of using
ratchet mechanism, we decided to use one directional frictionless bearing. With this
improvement, backlash in linear motion is minimized. Considering thermomechnical analysis,
in addition to force calculations, heating and cooling time of SMA springs are also calculated.
So, this information helps us to estimate the average velocity of robot while rotating and
moving forward direction. After that, finite element analysis for each part was done using
ANSYS program. According to these analyses, stresses on links are shown and it can be
concluded that failures originated from stress that our forces created will not be seen.
Considering the design specifications about resolution of rotational motion, our links must act
as a rigid body to have minimum resolution. It can also be deduced that deflections on links
are in safe region for our design specification. In addition, failure analyses are performed. We
check tipping, sliding and fatigue failure. From these analyses results, robot will fulfill the
expectations. After analyses are done and necessary inferences were made, material list is
conducted and production planning is written. Then, according to marketing search, cost
analysis is done.
86
12. DISCUSSION
During design processes, literature survey gave us an opportunity to explore various
techniques and equipment in order to design and manufacturing. Also we explored legal
design restrictions in terms of patents. Problem definition and design criteria gave us the aim
for our project. Project planning and management provided some benefits such as
communication of group improved by dividing tasks and it prevented waste efforts. n
addition to this, we were able to evaluate our work and compare it with management plan.
Functional decomposition enabled us to determine essential functions and guided us to
generate concepts for specific functions. With the brain storming initial concept generations
have done. With necessary improvement Morphological chart prepared and physical concepts
are revealed. After, all concepts are evaluated by using weighted matrix method and selected
the best concept selected. Small physical experiments and mock up phase helped a lot to
generate useful concept and it was an early warning to change or improve components such as
body, legs and type and size of actuator SMA .In a detailed design phase, best concept is
detail analyzed and improved in a quantitative manner. Although most of the design
completed, during manufacturing phase we realized that still small changes and improvements
need to be done in terms of sizes and location of joints.
13. CONCLUSION
All in all, all design steps applied and the most of the criteria are satisfied. Demonstration
results will show the exact amount of criteria fulfilled through our design. Final design sizes
and drawing are mentioned above sections and not repeated here for brevity.
87
14. REFERENCES
14.1.References of R1 Report
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[11] Rogers, Craig. "Intelligent Materials." Scientific American Sept. 1995: 154-157.
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systemdesign/stepper_dcservo.html
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[20] Retrieved October 10, from http://www.pcmag.com/encyclopedia/term/50506/rf-remote-control
[21] Retrieved October 10, from http://www.infineon.com/dgdl/RF2ir+WhitePaper+V1.0.

pdf?folderId=db3a3043191a246301192dd3ee2c2ae4&fileId=db3a30432b57a660012b5c16272c2e81
88
[22] Lee, G. (2011). Design of a Walking Mechanism. In Advances in Automation and Robotics (Vol. 2, p. 78).
Berlin.
14.2. References of R4 Report
[1] Retrieved November, 17, 2014, from http://users.cecs.anu.edu.au/~roy/SMA/smart04paper.pdf
[2] Retrieved November, 17, 2014, from http://books.google.com.tr/books?id=NQW71wgOINIC& pg= PA1

98&lpg=PA198 &dq=cooling+sma+wire+with+free+convection&source=bl&ots=czT2z
HO49V&sig=xhsXyweZipM-dHrtfjSCPbY7LaM&hl=tr&sa=X&ei=vFdnVIK3I4j-ygP69oDIBA&
ved=0CB8Q6AEwAQ#v=onepage&q=cooling%20sma%20wire%20with%20free%20convection&f=false
[3] Retrieved November, 17, 2014, from https://tetech.com/faqs/#techca.
[4] Retrieved November, 17, 2014, from http://www.webopedia.com/DidYouKnow/Computer_

Science/wireless_networks_explained.asp
[5] Retrieved November, 17, 2014, from http://www.ni.com/labview/why/
14.3. References of R5 Report
[1] H. Meier, A. Czechowicz, C. Haberland. (2009). Control loops with detection of inner electrical resistance
and fatigue-behaviour by activation of NiTi -Shape Memory Alloys, Ruhr-Universitat Bochum.
[2] G. Eggeler, E. Hornbogen, A. Yawny, A. Heckmann, M. Wagner. (2004) .Structural and functional fatigue of
NiTi shape memory alloys. Materials Science and Engineering
[3] CH. Grosmann, J. Frenzel, V. Sampath, T. DEPKA, and G. Eggeler.(2009).Elementary Transformation and
Deformation Processes and the Cyclic Stability of NiTi and NiTiCu Shape Memory Spring Actuators :The
Minerals, Metals & Materials Society and ASM International
[4] P. Sedlak, M. Frost, A. Kruisova, K. Hirmanova, L. Heller, and P. Sittner.( February 20, 2014). Simulations
of Mechanical Response of Superelastic NiTi Helical Spring and its Relation to Fatigue Resistance: ASM
International
[5] R. Mirzaeifar, R. DesRoches, A. Yavari, and K. Gall.(2012). Coupled Thermo- Mechanical Analysis of
Shape Memory Alloy Circular Bars in Pure Torsion, Int. J. Non-Linear Mech
89
15. APPENDX
15.1 Appendix of R5 Report
IX.I Engineering Drawings
90
91
92
Note: All tolerances in the drawings are +-0.2mm.
IX.II Material List
Item Part Name Part Quantity Material Model

No
1 SMA helical spring 3 NiTi Shape Memory

alloy
2 SMA torsional Spring 1 NiTi Shape Memory

alloy
3 Bias Spring 2 Stainless steel
4 Front Link 1 Plastic
5 Rear Link 1 Plastic
6 Body 1 Plastic
93
7 Rack 1 Plastic
8 Pinion 1 Plastic
9 Wheel 2 Natural Rubber
10 One way bearing 2 CSK 12P
11 Single row deep groove ball 4 604 ZZ

miniature bearing
604 2RS
605 ZZ
12 Pad 1 Copper Film
Rubber Film
IX.III Production Planning
As it is stated in system to be manufactured part, front link, rear link, body, rack and
pinion mechanism will be manufactured at 3D printer in our ME 407 laboratory.
Necessary SMA helical and torsional springs were bought from Kellogs Research
Laboratory. Other necessary parts such as bearings and wheels will also be bought
considering the marketing search results. Necessary specifications for the part are
explained in systems to be manufactured in detailed. After all parts are obtained
assembly of the robot will be in an order of:
Special pad attachment to front link
Front link and rear link connection by using roller bearings
SMA helical spring connection between the links
SMA torsional spring connection between the links
SMA helical springs connection to rack
Bias springs connection to the rack
Rack and pinion mechanism bedding
Inserting one directional bearing to the wheels
94
Wheel bedding
Mass calculation of Link 1
3
L1 25cm a 1 1.7cm b 1 2cm 10 kg
2 denstiy of the plastic
3
3 cm
v 1 L1 a1 b 1 85 cm
m1 v 1 0.17kg extra weight is added to link 1 to increase its friction
m1 0.5kg
L2 17.1cm a 2 1.66cm b 2 1cm
3
v 2 L2 a2 b 2 28.386cm

m2 v 2 0.057kg
L3 6cm a 3 7cm b 3 11cm t 5mm

v 3 L3 a3 b 3 L3 2t a3 2t b 3 2t 162 cm
3
m3 v 3 0.324kg
mtotal m1 m2 m3 0.881kg
FORCE ANALYSIS
1min 15deg 0.262 1max 35deg 0.611

IX.IV Computer
For Program Codes
1 35deg IX.IV.I Engineering Calculations
L1 tan 1 L3
atan 1 88.964deg

L2

95
2 1 53.964 deg
2 2
L1 L2 2L1 L2
Lsmacoil 2 2. cos ( ) 17.51665cm

3 3 3 3
2 L 2 2
1 L 2 L2
3 smacoil 3
1 acos
18.987deg

1
2 L
2 Lsmacoil
3
2 180deg 2 1 16.915 deg
1 0.9 (static friction coeficent of frictional part of front leg)
2 0.2 (static friction coeficent of nonfrictional part of front leg)
3 0.7 (static friction coeficent of slip of rear wheels)
4 0.2 (static friction coeficent of rolling of rear wheels)
5 0.2 (static friction coeficent of sliding of rear wheels)
Force analysis for closing legs

Fsmatorsionp 1N Force of SMA torsinal spring at passive phase
Fsmacoilp 0.85N Force of SMA helical spring at passive phase
L4 3cm distance of where torsional springs attached from joint O
L0smacoil 13.86524cm
undeformed length of sma spring
96
Fsmacoil 0N Fx1 0N
N1 0N Fy1 0N
N3 0N
Given
Fx1 Fsmacoil cos

1 1 N1 1 Fsmatorsionp cos 1 0 x=0
For link 1
2
y=0
N1 Fy1 m1 g Fsmacoil sin

1 1 Fsmatorsionp sin1 0
2
Fx1 Fsmacoil cos

2 2
N3 4 Fsmatorsionp cos 2 0 x=0
2
For link 2
Fy1 m2 g m3 g N3 Fsmacoil sin
2 2 Fsmatorsionp sin 2 0 y=0
2
L1 sin 1 2L1 cos ( )

N1 L1 sin 1 m1 g
2

Fsmacoil cos 90 1 1 3
0
2L1 sin 1

Fsmacoil sin 90 1 1 3

N1 1 L1 cos 1

Fsmatorsionp cos 1 L4 Fsmatorsionp sin 1 L4 (moment about point O for link 1)
1.981

0.695

Find Fsmacoil N1 N3 Fx1Fy1 3.814 N
0.157

2.47
Force analysis for opening legs
Fsmatorsion 0N Fx1 0N
N1 0N Fy1 0N
N3 0N
97
Given
Fx1 Fsmatorsion cos 1 .N1 2 Fsmacoilp cos

1 1 0

2 x=0
For link 1
N1 Fy1 m1 g Fsmatorsion sin 1 Fsmacoilp sin

y=0
1 1 0
2
N3 3 Fx1 Fsmatorsion cos 2 Fsmacoilp cos

x=0
2 2 0
2
For link 2
Fy1 m2 g m3 g N3 Fsmatorsion sin 2 Fsmacoilp sin
y=0
2 2 0
2
2-D FORCE ANALYSIS

Legs are turned while legs are closed and nonfrictional part of front leg touching ground.
1 15deg 2 36.598deg
N1 0N N3 0N
Given
m1 m2 m3 g N1 N3
a3
sin 1 a3
sin 2 a3

N1 L1 sin 1 L2 sin 2 m1 g L1
L2 sin 2 m2 g L2 0
2 2 2 2 2
98

L1 sin 1

N1 L1 sin 1 m1 g
2

N1 2 L1 cos 1 Fsmatorsion cos 1 L4 0
2L1 cos ( )

Fsmatorsion sin 1 L4 Fsmacoilp cos 90 1 1 3

2L1 sin 1

Fsmacoilp sin 90 1 1 3 (moment about point O for link 1)
1.684
This torsinal spring is used to hasten of
3.426
opening legs without torsinal spring leg
Find Fsmatorsion N1 N3 Fx1Fy1 3.637 N would open already this why values are
2.067 negetive.

1.944
99
4.354

Find N1 N3 N
4.283
N1 4.354N N3 4.283N
Ff N1 2 0.871N friction force
rpinion 1.5cm
Fpinion Ff
3min 0deg 3max 30deg
3 30deg rotation angle of pinion
2 rpinion 3
x 2 0.785cm

360deg
N
k2 30
m
Fspring k2 x 2 0.236N
Fsma2 2 Fspring Fpinion 1.342N
Checking for tipping while rotation

1 15deg angle between legs
3max 30 deg angle of max rotation of pinion
N1 0N N31 0N N32 0N
Given
100
m1 m2 m3 g N1 N31 N32
sin 1 b 3 sin 2 b 3
m1 g L1
L2 sin 2 sin 3max m2 g L2
sin 3max 0
2 2 2 2
b 3 b

3
N1 L1 sin 1 L2 sin 2 sin 3max N32 b 3 m3 g
2 2
4.122 Since all the reaction values are possitive the system
FindN1 N31N32 2.258 N would not tipp

2.258
Checking for sliding while rotation

3max 30deg
N31 2.258N N32 2.258N
FsR N31 5 N32 5 0.903N Resultant friction force needed on front leg

Fsx FsR sin 3max 0.452N

Fsy FsR cos 3max 0.782N
Fsx Fsx
Fsx1 0.226N Fsx2 0.226N
2 2
Fsy
Fsy1 0.391N Fsy
2 Fsy2 0.391N
2
N1 4.122N
N1 1
Fs 1.855N
2
101

sin 1 sin 2
m1 g L1 sin 3max m2 g L2 L1 sin 1 sin 3max m3 g L2 sin 2 L1 sin 1 sin 3max 0
2 2
b 3 b 3
N31 L2 sin 2 L1 sin 1 sin 3max N32 L2 sin 2 L1 sin 1 sin 3max
2 2
b 3 b 3

Fsx1 L2 sin 2 L1 sin 1 sin 3max
Fsx2 L2 sin 2 L1 sin 1 sin 3max
2 2
a3 a3

Fsy1 L2 sin 2 L1 sin 1 cos 3max Fsy2 L2 sin 2 L1 sin 1 cos 3max
x
2 2
2 Fs
IX.IV.II Analysis Results
Sample Calculation of Nitinol Spring Used for Linear Motion
Properties of Nitinol SMA:
Martensitic Start-Finish, Austenitic Start-Finish Temperatures:
M f 45C
M s 80C
A s 74 C
A f 95 C
Shear Modulus:
Gm 7.5 GPa Martensitic

Ga 25 GPa Austenitic
Between Mf<T<Af;
3.14

0.09
Ms Mf
x 4.795cm

Lsupport 2 x 9.591 cm
102
Ms Mf
Tm 62.5 C
2
Suppose that,
T 60C
Ga Gm
9
G 10 Gm
1 sin ( ) T Tm 1.429 10

10
2
Wire diameter;
3
d 0.510
m
Diameter of SMA spring;

3
D 4.7510
m
Angle of Inclination;
Number of Turns;
2
Our Nitinol spring compensate the force at 60 C
n 50 The stretch of the spring

0.04m
4
Output Force at temperature T; G d
F 0.833 N
3
8 D n
In order to increase the temperature to 60 C
Properties of the nitinol spring:
J
h c 150
m Csec
2
kg
6450
3
m
kcal
c p 0.2
kg C
Resistivity 76 cm
103
2 7 2
A ( d ) 1.963 10 m Cross sectional area
4
L Dn 0.746 m Length of the wire
3 2
A c d L 1.171 10 m Circumferential area
8
Resistivity 10
R 3.873 Resistance per unit length of the material
A
Note that 1kcal=4285.5 J
A cp 4285.5 Time constant associated with the heat transfer process

t h 6.178
h c A c
Estimate that our constant current is 3A.
i 2
0 40C
d 60 C
d 0 h c A c
t d t h ln 1 1.589 Heating time.
2 R
i
amb 20C
When the wire is heated to 60 C
d 40C
0 60C
d amb
td th ln 4.282 Cooling time
0 amb
Sample Calculation of Nitinol Spring Used for Rotational Motion
Properties of Nitinol SMA:
Martensitic Start-Finish, Austenitic Start-Finish Temperatures:
M f 45C
M s 80C
A s 74C
A f 95C
104
Shear Modulus:
Gm 7.5 GPa Martensitic

Ga 25GPa Austenitic
Between Mf<T<Af;
3.14

0.09
Ms Mf
Ms Mf
Tm 62.5 C
2
Suppose that,
T 80C
Ga Gm
9
G 10 Gm 10
1 sin ( ) T Tm 2.997 10
Pa
2
Wire diameter;
3
d 0.510
m
Diameter of SMA spring;

3
D 4.7510
m
Angle of Inclination; 2
Number of Turns;
n 25
The stretch of the spring 0.0117
Output Force at temperature T;
4
G d
F 1.022 N Our Nitinol spring compensate the force at 80 C
3
8 D n
In order to increase the temperature to 80 C
Properties of the nitinol spring:
105
J
h c 150
m2Csec
kg
6450
3
m
kcal
c p 0.2
kg C
Resistivity 76 cm
2 7 2
A ( d ) 1.963 10 m Cross sectional area
4
L Dn 0.373 m Length of the wire
4 2
A c d L 5.854 10 m Circumferential area
8
Resistivity 10
R 3.873 Resistance per unit length of the material
A
Note that 1kcal=4285.5 J
A cp 4285.5 Time constant associated with the heat transfer process

th 12.355
h c A c
Estimate that our constant current is 3A.
i 3 d 0 h c A c
t d t h ln 1 1.312
2 R
0 40C i
d 80 C Heating time.
When the wirre is heated to 60 C
amb 20C
0 80C
d 40 C
d amb
td th ln 13.573 Cooling time
0 amb

106
IX.V Cost Analysis
Item Part Part Material Model Unit Cost Machining Total

No Name Quantity [TL] Cost[TL] Cost[TL]
1 SMA 3 NiTi Shape Memory 18.077 - 54.231

helical alloy
spring
2 SMA 1 NiTi Shape Memory 20.742 - 20.742

torsional alloy
Spring
3 Bias 2 Stainless steel 5-20 - 10-40

Spring
4 Front 1 Plastic - 89.47 89.47

Link
5 Rear Link 1 Plastic - 64.83 64.83
6 Body 1 Plastic - 78.72 78.72
7 Rack 1 Plastic - 9.91 9.91
8 Pinion 1 Plastic - 11.24 11.24
9 Wheel 2 Natural Rubber 5-12 - 10-24
10 One way 2 CSK 12P 82.23 - 82.23

bearing
11 Single row 4 604 ZZ 1.298- - 5.192-

deep 2.920 11.680
groove ball
miniature
bearing
12 Pad 1 Teflon Film 6.78 - 6.78
Rubber Film 3.45 - 3.45
471.603
107
108

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MIDDLE EAST TECHNICAL UNIVERSITY

Assoc. Prof. Dr. lhan Konukseven

Assistants: Ozan Erartsn

Sinan zgn Demir

lke Ceylan ilke.ceylan@metu.edu.tr 05063365899

Semih Erdoan e181682@metu.edu.tr 05064614560

Merve Erolu merveeroglu0@gmail.com 05383126742

Ozan Esenkul ozan.esenkul@metu.edu.tr 05387665585

S. Kazm Smek e174426@metu.edu.tr 05303967453

Atalay Uluakay atalayuluakay@gmail.com 05466150505

BioMetal Inchworm Walking Robot

Project Gantt chart(Figure 1)

8. LIST OF ENGINEERING DRAWINGS

11. MAIN TEXT

KEYWORD: <Shape Memory Alloy Actuator>, <Inchworm Robot>, <Planar Motion

2.1. Inchworm Robot

2.1.1 HEXBUG Inchworm Robot

Product Weight 79.83 g

Product Depth 3.7 inch

Product Width 4.33 inch

Product Height 5.04 inch

Remote Control Features Reverse, Forward, Right, Left

Other Control Features Change its Direction, 7 Way Steering

Channels Supported 2 Channels

Control Type Radio Control

Battery Type for Remote 2 x AG13/LR44 Batteries

Battery Type for Toy 2 x AG13/LR44 Batteries

Price of HEXBUG Inchworm: 19.99 $ [3]

Specifications of BioMetal Fiber Walking Robot Inchworm: [5]

Price of BioMetal Fiber Walking Robot Inchworm: 24.95 $ [5]

HEXBUG Inchworm Robot BioMetal Fiber Walking

Weight 79.83 g 65.67 g

Height Dimension 5.04" 1.75"

Width Dimension 4.33" 1.50"

Depth Dimension 3.7" 0.44"

Price 19.99 $ 24.95$

2.2.1 Miga Linear Shape Memory Alloy Actuator:

Specifications of Miga Linear Shape Memory Alloy Actuator: [6]

Stroke: 0.375 inches (9.5mm)

Price of Migaone Linear Shape Memory Alloy Actuator: 39.95$ [7]

2.2.2. CEDRAT APA50XS Amplified Piezoelectric Actuator

Specifications of CEDRAT APA50XS Amplified Piezoelectric Actuator: [9]

Miga Linear Shape CEDRAT APA25XS

Dimensions 71 x 33 x 2.5mm 4.7 x 12.8 x 5

Price 39.95 $ unknown

3.1.1. Shape Memory Alloy Actuators

Table 3 Comparison of austenite and martensite material properties [13]

Stronger & Compact phase Soft & Easily deformed phase

Cubic shape Twinned shape

Exists at higher temperatures Exists at lower temperatures

Table 4 advantages and disadvantages of SMA Actuators [13]

Bio-compatibility Relatively expensive

High design flexibility Poor fatigue properties

Easy actuator control

Good Mechanical Properties

Space & weight saving

3.1.2. Piezoelectric Actuators

A piezoelectric actuator converts an electrical signal into a precisely controlled physical

Table 5 advantages and disadvantages of Piezoelectric Actuators [15] [16]

Very precise movement Low maximum stroke

Compact Declining force stroke characteristics

High force Temperature compensation required

Quick response Lack of robustness