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2.5
2
Stress(N)
1.5
1
T
0.5 T
0
0 1 2 3 4 5 6
Strain(%)
Continued from one-way
• Heating the detwinned martensite after removing
the load will completely recover the initial shape
if no plastic deformation occurred.
• This happens because all the stress did was select a
different, ‘preferred’ variant.
• At the first cooling, a given section of austenite
could transform to any given variant of martensite;
they were all crystallographically equivalent with
respect to the parent phase (stress makes them
unequal thermodynamically however)
• Therefore on heating, all martensite variants will
go back to the same parent structure of austenite,
resulting in the original shape being recovered.
• On cooling from austenite, in the absence of stress,
the sample will have no visible length change,
forming the same twinned martensite structure.
Continued from one-way
• The phenomena of being able to recover a shape
with heating is known as the one-way effect.
• Through the one-way effect along and
superelasticity (think rubber band), nitinol has
found many applications in the medical industry.
• Applications using the one-way effect as an
actuator have been less common and less
successful due to the relative small size of the one-
way strain(3-5% stable, higher is less stable).
• Additionally in any actuating application using the
one-way effect, some sort of bias stress, usually in
the form of an opposing spring, is necessary to
‘reset’ the wire.
Example of Application and
Potential Application
0.6
Resistance(Normalized
0.5
0.4 Cooling Af
Ohms) Ms
0.3
0.2
As
0.1
Mf Heating
0
0 0.05 0.1 0.15 0.2 0.25 0.3
Current(A)
Notice that the hysteresis loop is not closed, the ending resistance is
significantly higher than the starting. With cold work and or many
thermal cycles, which generate internal stress, the loop changes less,
but the full transformation still has negative consequences on the
two-way effect.
Effects of Thermal Cycling on Resistance
Effect of Thermal Cycling on Resistance for Annealed
Sample
Development of R-phase peak
0.7
Resistance(Normalized
1.5
dislocation density Cycle 1
ohms)
1
increases. Third phases also 0.5
Cycle 2
Cycle 3
can develop. Specifically 0
here the R-phase is -0.5 0 0.05 0.1 0.15 0.2 0.25
0.6 0.2
Resistance(Normalized
Resistance(Ohms)
0.4 0
0.2 -0.2
Ohms)
0 -0.4
-0.2 0 0.05 0.1 0.15 0.2 0.25 0.3
-0.6
-0.4 -0.8
-0.6 -1
0 0.05 0.1 0.15 0.2 0.25 0.3
Current(A)
Current(A)
1.6
As
1.4
1.2
1 Heating
Strain(%)
0.8
Mf Cooling
0.6 Austenite
0.4 (below
Ms Af
0.2 Room T)
0
-0.2 0 0.05 0.1 0.15 0.2 0.25
Electrical Current(A)
1.5 As
Resistance(Normalized
1
Ohms), Strain(%)
0.5
Af Two-Way Strain
Resistance
0
0 0.05 0.1 0.15 0.2 0.25
-0.5
-1
Current (A)
thermomechanical 2
1.5
history different
Strain(%)
1 Martensite Strain
different degradation 0
0 1000 2000 3000 4000
-0.5
paths. Number of Thermal Cycles
0.2
0
Austenite Strain
Martensite Strain
dramatic impact on the
-500-0.2 500 1500 2500 3500
-0.4
-0.6
degradation in both
-0.8
-1 positive and negative
Therm al Cycles
ways.
Experimental Setup
• In order to complete this study a test rig was built
with the appropriate specifications.
• The setup has the ability to accurately and in an
automated way conduct temperature-strain, stress-
strain, and resistance-temperature tests.
• Setup uses a computer interface with analog
circuitry and instrumentation to check various
sensors, control motors, and adjust the current
going through the wire (joule heating is used to
control the wire temperature).
• This setup allows extended thermal cycling tests to
be conducted over the large portion of a day.
• Images on following pages are from earlier and
later version of setup.
Tensile Setup
• This portion of my testing equipment includes the force
sensor (which consists of a cantilever w/ strain gages
mounted on each side), the linear potentiometer and the
displacement controller.
• This has the ability to make stress-strain curves (look to
martensite deformation curve at start of slides for reference).
• Additionally if the current control circuitry is included, the
setup has the ability to conduct strain vs. current tests, in
addition to two-way degradation tests.
• Two-way tests usually involve letting the wire reach an
equilibrium state after changing the temperature, then
exerting some minimum force to stretch the wire so that the
length can be measured.
• With the two-way degradation tests, every 50 thermal cycles
or so, a measurement cycle is conducted.
• The stress-strain tests take about 1 hour to run, the two-way
strain tests take about 30 minutes, and the degradation tests
upwards of 16 hours for 4000 cycles.
Resistance Measurement Setup
• The resistance measurement system consists of
several mosfets to switch between the heating
current, and the small constant measurement
current.
• After heating for approx. 2 seconds at a given
current, the setup switches and lets the
measurement current through.
• b/c heat dissipates slowly, an accurate resistance
measurement can be made after the voltage drop is
amplified.
• These tests are quick and clean, since it takes less
than 10 minutes to get about 250 highly accurate
and precise data points from one thermal cycle.
Functional Circuit Diagrams
Force Sensor Half-Bridge Circuit
Length measurement circuit
+20V
Phidget out INA101 Gain= 6
ADCs In+ In- Phidget
2.5V
Power amp
13 mA Phidget DOs
+5V
Nulling resistance
13 mA
Voltage Control
DAC
Power amp Sample Wire
Phidget DOs
ADCs
Power supplies Pennies (made after 1982) used to calibrate force sensor.
In recent days I have tried to increase displacement control
and length measurement accuracy w/ new methods
Resistance(ohms)
0.2
through test 0.4
0.1
0.3
Multiple
Resistance(ohms)
0
0.2
0 0.05 0.1 0.15 0.2 0.25
-0.1 transient 0.1
-0.2 contacts at 0
0 0.05 0.1 0.15 0.2
-0.3
setup-wire Current(A)
-0.4
interface and
-0.5
Current(A) others
Resistance Vs. Current
Timing Issue 0.2
0
-0.2 0 0.1 0.2 0.3 0.4
Resistance(ohms)
0.8 Effect of -0.6
0.6
-0.8
0.4
0.2
soldering -1
-0.2 0
0
0.05 0.1 0.15 0.2 0.25
crimps to -1.2
-1.4
-0.4
-0.6
sample -1.6
-0.8
(annealed -1.8
Current(A)
unevenly) Current(A)
Stress vs. Strain Problems
Stress Vs. Strain
3.5
3
3
2.5
Stress(Newtons)
Stress(Newtons)
2.5
2
2
1.5
1.5
1
1
0.5
0.5
0
0 2 4 6 8 0
0 1 2 3 4 5 6 7
Strain(%)
Strain(%)
0.4
overstepping of 0.7
0.6
Strain(%)
0.3
stress, resulting in 0.5
0.4
0.2
steps, depending on 0.3
0.2
0.1
0
mechanical setup 0.1
0
-0.1
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18
can bind in both -0.1 0 0.05 0.1 0.15 0.2 0.25
Current(A) Current(A)
directions, one, etc.
Please note these are the clearest
examples of the problems. Tw o-Way Strain
0.8
Tw o-Way Strain
0.7
1.4 0.6
1.2 0.5
Strain(%)
1 0.4
0.8 0.3
Strain(%)
0.6 0.2
0.4 0.1
0.2 0
0 0.05 0.1 0.15 0.2 0.25 0.3
-0.1
0
Current(A)
-0.2 0 0.05 0.1 0.15 0.2 0.25 0.3
Current(A)
Noise at edges, slider ‘wiggles’ in
Directional Offset, due to crosshead moving orientation as changes direction to
slider to one side of path apply force
Stress-Assisted Two-Way Memory Effect (SATWME)
2.9
2.4
0.05 N
1.9 0.1 N
Strain(%)
0.12 N
0.15 N
1.4
0.2 N
0.3 N
0.9
0.5 N
0.4
-0.1
0 0.05 0.1 0.15 0.2 0.25
Current(A)
In order to measure the length of the wire, a force has to be applied to straighten
it. The wire changes length without any force being applied at all, but when
applying a force to the wire to measure the change, the total change is actually
increased. This effect is known as the Stress-Assisted Two-Way Memory Effect
(SATWME). When conducting a study, a measurement force has to be selected
such that the SATWME is minimized, while keeping the displacement
measurement accurate and precise.
Standard Testing Procedure for all
Tests
• The sample wire will be annealed first, for
example w/ 0.6 amps (approx. 500 C) for 30 min,
to remove dislocations. (This makes the material
soft and easy to develop a high two-way strain)
• Next the wire is ‘trained’ by undergoing multiple
thermomechanical cycles which involve cold or
martensite deformation followed by heating and
recovery into the austenite state.
• A typical training run would consist of 10 cycles
with deformation to 6% each time followed by a
heating w/ 0.2 amps (approx. 100 C).
• Following training the material would undergo thermal
cycles (from one current to another, for example 0.0 A
(room temp.) to 0.2 A) several thousand times to assess the
influence of cycling temperatures on the degradation of the
two-way strain.
• Every 20 to 50 thermal cycles, a ‘measurement’ cycle will
be conducted by the setup to calculate the two-way strain.
• Measurement cycles consist of holding the wire at a
temperature in a stress-free state, then a applying a
minimum load to straighten the wire and calculate the
change in length.
• For each major step of the procedure, a resistance vs.
current graph will be produced, to help determine internal
changes.
• Additionally a full strain verses current graph will be
produced at certain key parts (i.e. after training and after
cycling).
Current Developments
• I received about $200 of wire with a custom
anneal free from Dynalloy (c) to help with my
project.
• I am still working on the displacement control
system. From looking at my old results, it seems
that the mechanical problems became more
prominent as the potentiometer wore down.
• Potentially the slider, as the moving parts wore
down, was allowed more freedom in orientation,
resulting in inconsistent length measurement.
• Currently I am obtaining two industry quality
potentiometers rated for 200,000 cycles.
Hopefully this will solve most of my problems.
Acknowledgements
• I would like to thank my electronics teacher Mr.
Bell for taking the time to help me get started and
learn about the electronics for this project.
• Mr. Jones and Craig at NRL for helping me with
my force sensor by providing me with supplies
and expertise.
• Many people who I have talked to about this
project and who have all offered insight and
perspective.
• Jeff Brown and Dynalloy(c) for cooperating with
me and getting me what I needed at no charge.
• My parents for putting up with me and letting me
make the basement a mess. Without their support
and everyone else’s help I would have never been
able to make this happen.
Useful References
• Liu, Y, and D Favier. "Stabilisation of martensite due to shear
deformation via variant reorientation in polycrystalline NiTi . ."
Acta Materialia 48.13 (2000): 3489-99.
• Liu, Y, J Laeng, T V. Chin, and T Nam. "Partial Thermal
Cycling of NiTi." Journal of Alloys and Compounds 449.1-2
(2006): 144-47.
• Miller, D.A., and Lagoudas, D.C., 2000, " Thermo-Mechanical
Characterization of NiTiCu and NiTi SMA Actuators: Influence
of Plastic Strains," Smart Materials and Structures, Vol. 9, No.
5, pp. 640-652.
• Paula, A S., K K. Mahesh, C.M.L dos Santos, and F.M Branz
Fernandes. "Thermomechanical Behavior of Ti-rich NiTi Shape
Memory Alloys ." Materials Science and Engineering A (2008):
146-50.
• Scherngell, H., & Kneissl, A. C. (2002). Generation,
devolpment and degradation of the intrinsic two-way shape
memory effect in different alloy systems. Acta Materialia, 50,
327-341.
• Stalmans, R, J Van Humbeeck, and L Delaey. "Degradition of
the Shape Memory effect in copper-base alloys." Scripta
Metallurgica et Materilia 31.11 (1994): 1573-76.
• Stalmans, R, J Van Humbeeck, and L Delaey.
"Thermomechanical Cycling, Two Way Memory and
Concomitant Effects in Cu-Zn-Al Alloys." Acta Metallurgica
Materialia 40.3 (1992): 501-11.
• Stalmans, R, J Van Humbeeck, and L Delaey. "The Two Way
Memory Effect in Copper-Based Shape Memory Alloys-
Thermodynamics and Mechanisms ." Acta Metallurgica
Materialia 40.11 (1992): 2921-31.
• Uchil, J, K K. Mahesh, and K G. Kumara. "Electrical
Resistivity and Strain Recovery Studies on the Effect of
Thermal Cycling under Constant Stress on R-phase in NiTi
Shape Memory Alloy." Physics B 324 (2002): 419-28.