DEPARTMENT OF MECHANICAL ENGINEERING

PROJECT PHASE : I

TITLE OF THE PROJECT:

Design, fabrication and analysis of shape memory
alloy actuated spring in gripper

Guided By: Presented By:

R . KARTHIK Guddakesh Kumar Chandan
AP/Mechanical Department 14ME003 ME CAD/CAM
Contents:

• introduction

• objective

• Scope

• Literature Survey

• Methodology

• Reference
 What is Shape memory alloy?
• A shape-memory alloy is an alloy that remember its
original shape and it get its original shape by the application of
heat from its deformed shape
• It is also known with other names like SMA, smart metal, memory
metal, memory alloy, muscle wire, smart alloy

why we should use this ?

 Noiseless operation
 Compatibility with harsh environment
 No Electromagnetic emission
Manufacture process:

 Shape-memory alloys are typically made by casting, using

vacuum arc melting or induction melting. These are specialist
techniques used to keep impurities in the alloy to a minimum
and ensure the metals are well mixed. The ingot is then hot
rolled into longer sections and then drawn to turn it into wire.

 The way in which the alloys are "trained" depends on the

properties wanted. The "training" dictates the shape that the
alloy will remember when it is heated. This occurs by heating the
alloy so that the dislocations re-order into stable positions, but
not so hot that the material recrystallizes. They are heated to
between 400 °C and 500 °C for 30 minutes, shaped while hot,
and then are cooled rapidly by quenching in water or by cooling
with air
 Objective:
• To design and fabricate the gripper spring to handle the small
component with the help of SMA material.

• To identify the different parameters , those are affecting the

gripper actuation.
 Scope:
• Use of smart metal can minimize power loss

• Can use for wide range of product for smooth actuation

• Reduction in weight
LITERATURE SURVEY
Design and investigation of a shape memory alloy actuated
gripper by S. Krishna Chaitanya and K. Dhanalaksmi (2012)
 Using SMA can generate smooth muscle movement

 Convert linear displacement of the SMA wire actuator into angular

displacement of the gripping jaw

 Can open up to 22.5 angle

 Forced cooling process

 Light weight

 High performance actuator

 Provide high force

Cad model of SMA actuated gripper with torsional spring :
Dimensions and properties of NITI wire actuator:

property unit value

length mm 140
diameter mm 0.25
Transition temperature C 90
Martensite start temp C 72
Martensite finish temp C 62
Austenite start temp C 88
Austenite finish temp C 98
Young’s modulus G Pa
density Kg/m3 6450
resistance Ohm/m 18.5
Contraction time sec 1
off time sec 5.4
max pull force g 891
Schematic representation:
 Calibration curves:

Displacement sensor current sensor

Response of the gripper at different voltage Influence of driving current at various voltage
level
 CONCLUSION:

 Wide handling capabilities

 Invested under various driving current , power level & cooling

condition

 Less power consumption

 Gripper can handle object for longer duration

 Wide size of object for a chosen application

 Gripper actuator using Shape Memory Alloy spring
SUNDRA SATHIYA KS, VIKRAM SINGH(2015)

 Applying electric power to the shape memory alloy spring

 By being safely heating it has an ability to retain their original

shape from fabricated shape in austenite phase

 when the power supply is off, steel spring which compress the
shape memory alloy spring to its fabricated shape
 Conclusion:
• A mechanical gripper has been designed and fabricated .

• Use of shape memory alloy spring, the mechanical gripper is able

to pick an object of small size of 98mm diameter and weight less
than 200g
 TOPOLOGY OPTIMIZATION:

Layout of elements and zero-length links (shown here with finite

length) used in the element connectivity
 Proof-of-Concept of the Shape Memory Alloy ReseTtable Dual Chamber Lift Device for
Pedestrian Protection With Tailorable Performance by Diann Brei (2013)

• There is an increasing internal space demand that reduces the

crush zone between the relatively compliant hood and rigid under
hood components
• One unique approach is an active hood lift which raises the hood
upon detection of a collision with a pedestrian to increase the crush
zone
• This paper presents a novel hood lift concept
• The shape memory alloy resettable (smart) dual chamber lift
device which is reusable, automatically resettable,
• It has tunable performance both off-line, and on-line to adjust to
extrinsic factors
Smart dual chamber lift device architecture Figure shows major functional components
Smart dual chamber lift device operational cycles:
DUAL CHAMBER PROTOTYPE PERFORMANCE AT 170
PSIA:
 Conclusion:
• This paper presented an adaptive automatic resettable/reusable lift
device.
• The smart dual chamber lift device, which connectively compensate
for extrinsic effects, such as changes in mass , temperature and
vehicle platform.
• The concept of the smart dual chamber lift was presented whereby a
pneumatic spring, divided into two chambers by a piston, is balanced
on opposing sides of the piston by compressed air.
• Smart dual chamber lift device has promise for addressing extrinsic
effects as well as issues such as the lack of automatic
reset/reusability that are present with many current single use hood
lift devices.
 On the Effect of Latent Heat on the Fracture Toughness of
Pseudo elastic Shape Memory Alloys by Chad M. Landis(2014)
• A finite element analysis of steady-state crack growth in pseudo
elastic shape memory alloys
• Under the assumption of adiabatic conditions is carried out for
plane strain
• The crack is assumed to propagate at a critical level of the crack-tip
energy release rate
• The fracture toughness is obtained as the ratio of the far-field
applied energy release rate to the crack-tip critical value
(a) Martensite volume fraction (b) austenite volume fraction(c) temp under adiabatic condition
 Temp(k)
The toughness enhancement Uniaxial mechanical response of an NiTi material
system
 Conclusion:
 The steady-state fracture toughness enhancement in pseudoelastic
polycrystalline SMAs is analyzed via a finite element method for
plane strain loading under adiabatic conditions.

 The levels of transformation toughening loss depend on thermo

mechanical parameters that are dependent on training, heat
treatment
 On the Fracture Toughness of Pseudoelastic Shape Memory
Alloys by Chad M. Landis (2014)
• A finite element analysis of quasi-static, steady-state crack growth in
pseudo elastic shape memory alloys is carried out for plane strain

• The crack is assumed to propagate at a critical level of the crack-tip

energy release rate.

• The fracture toughness is obtained as the ratio of the far-field applied

energy release rate to the crack-tip energy release rate
Martensite volume fraction close to the steadily advancing crack tip for a range of values of
the non dimensional parameters
Uniaxial stress–strain response for a range of the
non dimensional parameters
 Conclusion:
• The steady-state fracture toughness enhancement in pseudoelastic
polycrystalline SMAs is analyzed via a finite element method for
plane strain

• Two transformation zones are generally observed close to the crack

tip: a fully transformed region surrounded by a zone of partially
transformed material.
 Design optimization of shape memory alloy active structures
using the R-phase transformation by Matthijs Langelaar(2010)
• Design optimization technique

• R-PHASE transformation in Ni-Ti

• Topology and shape optimized procedure for design

Stress and strain curves(theoretical) @ various temp of Ni-Ti alloy:
Stress and strain curves(experimental) @ various temp of Ni-Ti alloy:
Design domain and boundary condition for the SAM topology optimization problem
Versatile design optimization techniques:

1. Conceptual gripper geometry in the undeformed configuration

2. Geometrical design variable used in the shape optimization procedure
Temperature distribution (k) on the optimal miniature SMA gripper in the open and
closed configuration
Temperature distributions at maximum bending in parts of the optimized deformed
catheter structure with 1 mm tube diameters for three considered design concept
 Conclusion :
• Versatile design optimization techniques used

• Generate well-performing designs without the need to predefine a

certain geometry

• This technique could be applied to generate promising initial

design layouts or to improve existing designs
Design, Fabrication, Simulation and Testing of a Pneumatically Actuated
Micro-Gripper for Micro tactile Sensing by A. F. Alogla(2015)

• Micro-gripper design with the dual functions of manipulation and

force sensing

• Conveniently fabricated using photo-etching

• Design allows for a range of ratios between actuation pressure and

tip opening displacement and force

• Elastic gripping tips can be designed to Provide sufficient compliance

that their strain can be used to monitor and control the gripping
force
Assembly steps:
1. Typical dynamic test output from optical sensor
2. Amplitude of tip displacement as frequently is varied for different pulsed pressure
 Conclusion:
• The ability to pick and place micronized

• Objects with the potential to provide tactile feedback

• Scalable photo-etching manufacturing technique with a range of

dimensions, allowing this design to be scaled to fit the chosen
application

• Future work will focus on further miniaturization of the gripper for

manipulating smaller objects
A Full Two-Dimensional Thermodynamic-Based Model for
Magnetic Shape Memory Alloys by Isaac D. Nelson (2014)
• Exhibit considerable recoverable strain (up to 10%)

• fast response time

• presents a phenomenological thermodynamic-based model able

to predict the response of an MSMA to any two-dimensional (2D)
magneto-mechanical loading

• includes evolution rules for the magnetic domain volume fractions

and the angle of rotation of the magnetization vectors
Assumed microstructure of variants and magnetic domains:
 Stress versus strain curve of an MSMA specimen under no applied field.
Includes points used to calibrate model and subsequent model predictions
 Conclusion:
• Matlab for solve command

• Magnetic field transverse to the applied stress

• Field tilted to 4 & 8 Deg from the transverse direction

• Presents a model for predicting the response of an MSMA

On the use of shape memory alloy studs to recover load loss
in bolted joints by Abdel-hakim Bouzid (2013)
• Creep is an important factor that contributes to the clamp load loss
and tightness failure of bolted joints with and without gaskets over
time

• Retightening of the joint can be expensive and time consuming

therefore it is an undesirable solution

• Currently, most efforts are put towards reducing load losses directly
by tightening to yield Improving material creep properties, or making
joint less rigid

• Superelasticity behavior of an SMA stud to recover load losses due to

creep and thermal exposure of a gasket in a bolted-joint assembly
Temperature distribution in a four-pass heat:
Analytical model:
Illustrations of the properties of SMA:
Analytical model algorithm:
FEM of the bolted-joint experimental assembly:
5% elongation test stress versus strain versus temperature:
 Conclusion:
• The use of SMA bolts can considerably reduce the clamp load loss
due to creep in the gasket

• It was also demonstrated that additional load can be generated to

further compensate creep losses at higher temperatures

• The application of the likachev model of SMA in both the analytical

and FE models yields acceptable concurrence with experimental
results
 Literature gap
 SMA actuators are typically actuated electrically, where electric current results
in heating if Deactivation occurs it causes free convective heat transfer to the ambient
environment, Due to that harsh in environment occur.

 A number of methods have been proposed to reduce SMA deactivation time, including
forced convection and lagging the SMA with a conductive material in order to
manipulate the heat transfer rate.

 SMAs are also subject to functional fatigue, a failure mode not typical of most
engineering materials, whereby the SMA does not fail structurally but loses its shape-
memory/super elastic characteristics over time. As a result of cyclic loading (both
mechanical and thermal), the material loses its ability to undergo a reversible phase
transformation
 METHODOLOGY:
Study of shape memory alloy and its
parameters Study of gripper and its parameters

Design & fabrication of

the gripper

actuation of gripper using

SMA spring

Preparation of
experimental setup and
conduct experiment

Compare the result with

previously existence

conclusion
MATERIAL SELECTION
 Silver - Cadmium(Ag-Cd)
 Gold – Cadmium(Au-Cd)
 Copper – almunium – nickel(Cu-Al-Ni)
 Copper – tin(Cu-Sn)
 Copper – zinc(Cu-Zn)
 Iron – platinum(Fe-Pt)
 Magnese – copper(Mn-Cu)
 Iron – magnese silicon(Fe-Mn-Si)
 Nickel-titanium(Ni-Ti)
 Copper-zinc-almunium(Cu-Zn-Al) comparision
 Copper-almunium-nickel(Cu-Al-Ni)
MATERIAL REQUIREMENT FOR CONDUCTING EXPERIMENT:

RECTANGULAR BOX

CYLINDRICAL ROD

SMA SPRING

STOP WATCH
DIGITAL COMBINED METER

MODEL Of THE GRIPPER

DIGITAL VERNIER CALIPER

Design & analysis of SMA spring using solid works & Ansys
Softwares respectively:

Spring memory alloy spring

Grippers
Experimental setup:
Programmable
Displacement measuring device Power supply

computer
WORK COMPLETED:

Design of the
gripper
Purchase the
material for
Finding the gap experiment
in literature
Literature
survey about
the shape
memory alloy
WORK PLAN:

Conduct
experiment

Analyze
result

conclusion
REFERENCES:
ASME

Science direct

Elsevier

IEEE
 THANK YOU

ANY QUERIES?