Scalable Output Linear Actuators, a Novel Design Concept Using Shape Memory Alloy Wires Driven by Fluid Temperature
In this paper, the concept of scalability for actuators is introduced and explored, which is the capability to freely change the output characteristics on demand: displacement and force for a linear actuator, angular position and torque for a rotational actuator. This change can either be used to ob...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-01-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/9/1/14 |
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| author | Andres Osorio Salazar Yusuke Sugahara Daisuke Matsuura Yukio Takeda |
| author_facet | Andres Osorio Salazar Yusuke Sugahara Daisuke Matsuura Yukio Takeda |
| author_sort | Andres Osorio Salazar |
| collection | DOAJ |
| description | In this paper, the concept of scalability for actuators is introduced and explored, which is the capability to freely change the output characteristics on demand: displacement and force for a linear actuator, angular position and torque for a rotational actuator. This change can either be used to obtain power improvement (with a constant scale factor), or to improve the usability of a robotic system according to variable conditions (with a variable scale factor). Some advantages of a scalable design include the ability to adapt to changing environments, variable resolution of step size, ability to produce designs that are adequate for restricted spaces or that require strict energy efficiency, and intrinsically safe systems. Current approaches for scalability in actuators have shortcomings: the method to achieve scalability is complex, so obtaining a variable scaling factor is challenging, or they cannot scale both output characteristics simultaneously. Shape Memory Alloy (SMA) wire-based actuators can overcome these limitations, because its two output characteristics, displacement and force, are physically independent from each other. In this paper we present a novel design concept for linear scalable actuators that overcome SMA design and scalability limitations by using a variable number of SMA wires mechanically in parallel, immersed in a liquid that transmits heat from a separate heat source (wet activation). In this concept, more wires increase the maximum attainable force, and longer wires increase the maximum displacement. Prototypes with different number of SMA wires were constructed and tested in isometric experiments to determine force vs. temperature behavior and time response. The heat-transmitting liquid was either static or flowing using pumps. Scalability was achieved with a simple method in all tested prototypes with a linear correlation of maximum force to number of SMA wires. Flowing heat transmission achieved higher actuation bandwidth. |
| first_indexed | 2024-03-09T04:44:48Z |
| format | Article |
| id | doaj.art-4bbc164a2cff4fa8add26126d3fab648 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T04:44:48Z |
| publishDate | 2021-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-4bbc164a2cff4fa8add26126d3fab6482023-12-03T13:16:38ZengMDPI AGMachines2075-17022021-01-01911410.3390/machines9010014Scalable Output Linear Actuators, a Novel Design Concept Using Shape Memory Alloy Wires Driven by Fluid TemperatureAndres Osorio Salazar0Yusuke Sugahara1Daisuke Matsuura2Yukio Takeda3School of Engineering, Tokyo Institute of Technology, Tokyo 152-8552, JapanSchool of Engineering, Tokyo Institute of Technology, Tokyo 152-8552, JapanSchool of Engineering, Tokyo Institute of Technology, Tokyo 152-8552, JapanSchool of Engineering, Tokyo Institute of Technology, Tokyo 152-8552, JapanIn this paper, the concept of scalability for actuators is introduced and explored, which is the capability to freely change the output characteristics on demand: displacement and force for a linear actuator, angular position and torque for a rotational actuator. This change can either be used to obtain power improvement (with a constant scale factor), or to improve the usability of a robotic system according to variable conditions (with a variable scale factor). Some advantages of a scalable design include the ability to adapt to changing environments, variable resolution of step size, ability to produce designs that are adequate for restricted spaces or that require strict energy efficiency, and intrinsically safe systems. Current approaches for scalability in actuators have shortcomings: the method to achieve scalability is complex, so obtaining a variable scaling factor is challenging, or they cannot scale both output characteristics simultaneously. Shape Memory Alloy (SMA) wire-based actuators can overcome these limitations, because its two output characteristics, displacement and force, are physically independent from each other. In this paper we present a novel design concept for linear scalable actuators that overcome SMA design and scalability limitations by using a variable number of SMA wires mechanically in parallel, immersed in a liquid that transmits heat from a separate heat source (wet activation). In this concept, more wires increase the maximum attainable force, and longer wires increase the maximum displacement. Prototypes with different number of SMA wires were constructed and tested in isometric experiments to determine force vs. temperature behavior and time response. The heat-transmitting liquid was either static or flowing using pumps. Scalability was achieved with a simple method in all tested prototypes with a linear correlation of maximum force to number of SMA wires. Flowing heat transmission achieved higher actuation bandwidth.https://www.mdpi.com/2075-1702/9/1/14Shape Memory Alloylinear actuatorscalability |
| spellingShingle | Andres Osorio Salazar Yusuke Sugahara Daisuke Matsuura Yukio Takeda Scalable Output Linear Actuators, a Novel Design Concept Using Shape Memory Alloy Wires Driven by Fluid Temperature Machines Shape Memory Alloy linear actuator scalability |
| title | Scalable Output Linear Actuators, a Novel Design Concept Using Shape Memory Alloy Wires Driven by Fluid Temperature |
| title_full | Scalable Output Linear Actuators, a Novel Design Concept Using Shape Memory Alloy Wires Driven by Fluid Temperature |
| title_fullStr | Scalable Output Linear Actuators, a Novel Design Concept Using Shape Memory Alloy Wires Driven by Fluid Temperature |
| title_full_unstemmed | Scalable Output Linear Actuators, a Novel Design Concept Using Shape Memory Alloy Wires Driven by Fluid Temperature |
| title_short | Scalable Output Linear Actuators, a Novel Design Concept Using Shape Memory Alloy Wires Driven by Fluid Temperature |
| title_sort | scalable output linear actuators a novel design concept using shape memory alloy wires driven by fluid temperature |
| topic | Shape Memory Alloy linear actuator scalability |
| url | https://www.mdpi.com/2075-1702/9/1/14 |
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