Post on 16-Dec-2015
SHAPE MEMORY ALLOY
Under the guidance of:DR. I.A. PalaniDr. C.p. Paul
Presented by:Sandesh DhurveNishchay Sharma
I.i.t. Indore R.r.c.a.t. indore
1
contentsResearch Objective• Project Title• Overview
Introduction to Shape Memory Alloy• Nitinol
Rapid Manufacturing using Lasers• Experimental setup• Obtained results
Spring & Parallel Manipulator• CAD model• Analysis using ANSYS
References
2
Rapid Manufacturing of Nitinol using Lasers • Deposition of Ni-Ti
powder on Ti plate using High power Laser deposition
• Manufacturing of a leaf spring
Parallel Manipulator with SMA springs• CAD modeling of the
parallel manipulator
• Modeling of helical and leaf springs
Analysis using ANSYS• Analyzing the
behavior of SMA springs with respect to temperature
• Study of the actuation mechanism of SMA springs in 3-DOF parallel manipulator
Research Objective
3
Shape Memory Alloy It remembers its shape Deformed shape + Heat = Original shape The high temperature causes the atoms to
arrange themselves into the most compact and regular pattern possible
Example: Copper-Aluminum-Nickel,
Copper-Zinc-Aluminum,
Iron- Manganese-Silicon and
Nickel-Titanium alloys
4
APPLICATIONS SMA have applications in industries like-
Medical: Mending bones, Stent in artries, Eyeglass frames, Tooth clips
Safety: Anti-scalding devices and fire sprinklers
Military: Nitinol couplers in F-14 fighter planes
Robotics: As an actuator5
NITINOL (Ni-Ti) Was discovered in Naval Ordnance
Laboratory (NOL), Maryland, USA Ni- 50% , Ti- 50%
290 310 330 350 370 390 4100
10
20
30
40
50
60
70
80
Young's Modulus v/s Temp
Temperature (K)
Young's
Modulu
s (
GP
a)
Temperature (K)
Young's Modulus (GPa)
294.25 27.17299.85 24.82305.35 22.41310.95 20.06316.45 25.72322.05 31.37327.55 36.96333.15 42.61338.75 48.27344.25 54.88349.85 61.43355.35 64.19360.95 63.16366.45 62.06372.05 63.92377.55 65.78383.15 67.64388.75 69.5394.25 71.36399.85 70.81405.35 70.33410.95 69.78416.45 69.29
FACT: Even 0.l wt% variation of composition causes 10 K error of transformation temperature.
HIGHLY SENSETIVE TO COMPOSITION!! 6
SME in NiTinol By change in phase from Martensite to Austenite
Monoclinic FCC (Martensite) to BCC (Austenite)
7
ADVANTAGES Compactness, allowing for reduction in overall actuator size. Very high power/weight ratio comparatively Accessible voltages can accomplish thermo elastic transformation Higher strain recovery Higher strength Noiseless and silent operation High corrosion resistance
8
LIMITATIONS Heat Dissipation, need Mechanism for cooling
Less Stiffness / high Flexibility
Relatively expensive to manufacture and machine
compared to other materials such as steel and
aluminum.
Most SMA's have poor fatigue properties ( a steel
component may survive for more than one hundred
time more cycles than an SMA element. )
9
Rapid manufacturing using lasers (LRM)
FABRICATION OF PARTS
CAD Model Powder Material
EXTENSION OF LASER CLADDING PROCESSDeposition of a metal on
anotherMetallurgical bonds are
formed
STEP TOWARDS FEATURE BASED DESIGN & MANUFACTURING
10
Experimental setupSchematic diagram:
Ni + Ti powder
NiNi Ti
Powder Feeder
CNC• High power Laser• 5 axes manipulator
with CNC control• Argon atmosphere
(965 mbar)• No moisture!!
Closed loop
process control
Guide Laser
• Marking the trajectory
• ƛ=605nm• Red color
laser
Nozzle
• Laser nozzle dia.= 3.29mm
• Powder feed nozzle dia.=1.96mm
Deposition
• Melting of powder by power laser (IR) ƛ=1080nm
• Power of laser= 700W
Deposition mechanism of Ni-Ti powder on Ti
plate 11
POWER LASER SPECIFICATIONS ƛ=1080nm (IR laser); feed= 4gm/min
Ytterbium laser system YLS-2000
A coolant is used for cooling the nozzle.
Temperature of nozzle is kept around 21-22 C
Maximum power of the laser= 2000W
Power during process= 700W
LRM based CNC Machine
Power of the laser is adjusted to get proper penetration, melting and deposition. Less power causes poor melting and high power causes sputtering!! 12
Modeling & Simulation Helical spring
Diameter of spring…………………..D = 1.5mm
Wire diameter………………………..d = 0.5 mm
Number of turns……………………..n = 40
Length of fully compressed spring….L= 20 mm
Leaf spring
Rectangular cross section…………..w = 5mm
h = 5mm
Arc radius…………………………..r = 37.5 mm
Parallel manipulator with helical spring
Parallel manipulator with leaf spring
13
Temp (C) Deflection (mm) Force (N) Deflection (mm) Force (N) Temp (C) Deflection (mm)25 0.0054 0.1 10.4130 0.1 25 10.930035 0.0235 0.2 20.8260 0.1 35 13.157045 0.0416 0.3 31.2380 0.1 45 10.203055 0.0597 0.4 41.6510 0.1 55 7.475065 0.0774 0.5 52.0640 0.1 65 5.916875 0.0958 0.6 62.4770 0.1 75 4.772085 0.1139 0.7 72.8890 0.1 85 4.475095 0.1320 0.8 83.3020 0.1 95 4.5630
105 0.1501 0.9 93.7150 0.1 105 4.3518115 0.1681 1 104.1300 0.1 115 4.1642125 0.1862 0.1 125 4.0842
Force suppressed, Variable temperature
Temperature suppressed , Variable force
Force and Temperature both acting
Result for helical spring
0.0000
2.0000
4.0000
6.0000
8.0000
10.0000
12.0000
14.0000
5 15 25 35 45 55 65 75 85 95 105 115 125 135
Defl
ecti
on (m
m)
Temperature (C)
Force and Temperature both acting
15
Temp (C) Deflection (mm) Force (N) Deflection (mm) Force (N) Temp (C) Deflection (mm)25 0.0093 10 6.0999 10 25 6.402735 0.0403 11 6.7099 10 35 7.705145 0.0713 12 7.3199 10 45 5.972955 0.1024 13 7.9299 10 55 4.374065 0.1335 14 8.5398 10 65 3.460375 0.1645 15 9.1498 10 75 2.789885 0.1955 16 9.7598 10 85 2.616195 0.2265 17 10.3700 10 95 2.6681105 0.2576 18 10.9800 10 105 2.5454115 0.2886 19 11.5900 10 115 2.4373125 0.3197 20 12.2000 10 125 2.3925
Force suppressed, Variable temperature
Temperature suppressed , Variable force
Force and Temperature both acting
Result for Leaf spring
0.00001.00002.00003.00004.00005.00006.00007.00008.00009.0000
5 15 25 35 45 55 65 75 85 95 105 115 125 135
Defl
ecti
on (
mm
)
Temperature (C)
Force and Temperatrue both acting
17
Force (N) Temp ( C ) Total Spring 1 Spring 2 Spring 30.05 Environmental 20.2930 10.522 10.7260 16.34300.05 35 22.2210 11.093 12.2990 17.89900.05 45 20.1280 10.465 10.6050 16.21000.05 55 17.7010 9.6972 8.9032 14.25100.05 65 15.9280 9.0501 7.8294 12.81900.05 75 14.3210 8.3799 6.9504 11.51600.05 85 13.8350 8.1568 6.6986 11.12400.05 95 13.9650 8.2092 6.7682 11.22900.05 105 13.6010 8.0367 6.5820 10.93500.05 115 13.2620 7.874 6.4107 10.66100.05 125 13.1030 7.7921 6.3321 10.5330
Result for Parallel manipulator with helical spring
Deflection (mm)
0.0
5.0
10.0
15.0
20.0
25.0
5 15 25 35 45 55 65 75 85 95 105 115 125 135
Defl
ecti
on (
mm
)
Temperature (C)
Total
Spring 1
Spring 2
Spring 3
19
Force (N) Temperature ( C ) Total Leaf 1 Leaf 2 Leaf 31000 25 1.8658 1.8658 1.1747 1.19691000 35 1.9659 1.9659 1.2291 1.25291000 45 1.8510 1.8510 1.1612 1.18311000 55 1.6976 1.6976 1.0702 1.09031000 65 1.5812 1.5812 0.9993 1.01851000 75 1.4751 1.4751 0.9334 0.95201000 85 1.4547 1.4547 0.9178 0.93621000 95 1.4811 1.4811 0.9304 0.94871000 105 1.4709 1.4709 0.9209 0.93901000 115 1.4632 1.4632 0.9127 0.93061000 125 1.4691 1.4691 0.9128 0.9306
Deflection (mm)
Result for parallel manipulator with Leaf Springs
0.0000
0.5000
1.0000
1.5000
2.0000
2.5000
5 15 25 35 45 55 65 75 85 95 105 115 125 135
Defl
ectio
n (m
m)
Temperature (C)
Total
Leaf 1
Leaf 2
Leaf 3
21
22
REFERENCES http://www.stanford.edu/~richlin1/sma/sma.html www.wikipedia.org Peter R. Barrett, Daniel Fridline. “User Implemented Nitinol
Material Model in ANSYS”. Kaan Divringi & Can Ozcan. “Advanced Shape memory alloy
material models for ANSYS”. Ozen Engineering Inc. Eiji makino, Takashi Mitsuya, Takayuki Shibata. “ Fabrication
of TiNi shape memory actuator for micropump”. Proc. SPIE 3891, Electronics and Structures for MEMS, 328 (September 29, 1999); doi:10.1117/12.364458
Shape Memory Alloy, BTP Report by Saurabh Maghade and Sahil Agarwal.