Designing a Robotic Gripper Based on the Actuating Capacity of NiTi-Based Shape Memory Wires
Abstract
:1. Introduction
2. Materials and Methods
3. Results and Discussion
3.1. Thermal Analysis
3.2. Work-Generating Shape Memory Effect
- NiTiCu wires warmed up faster than the NiTi ones;
- The displacements developed by the NiTiCu wires were slightly lower than those developed by the NiTi wires, compared to which they were smoother and had shorter maintaining times.
- From the point of view of temperature variation, the NiTiCu wire warmed up faster, cooled down faster and maintained the maximum temperature longer than the NiTi wire, though the two wires had the same diameter and length;
- From the point of view of displacement variation, it is obvious that the NiTiCu wire developed a larger stroke, about 10 mm, while the NiTi wire remained elongated after the first heating–cooling cycle.
3.3. Tensile Behavior at Room Temperature
3.4. Constrained Recovery Shape Memory Effect
- The NiTiCu wire experienced a larger relaxation capacity during cooling, in good accordance with the WG-SME response from Figure 6;
- Both SM-wires were able to develop repetitive CR-SME.
3.5. Actuation System Based on SM Shrinkage vs. SE Recovery
4. Summary and Conclusions
- From the point of view of WG-SME:
- The SM response (RT displacement) increased with the applied load up to 12 mm, corresponding to a work of 0.47 J;
- Cu addition caused higher heating and cooling rates during single tests and larger displacement during cyclic tests, developing a repetitive work of 0.392 J.
- From the point of view of the RT tensile behavior:
- Both Ni48Ti52 and Ni45Ti50Cu5 wires exhibited stress plateaus during loading associated with the crystallographic reorientation of martensite;
- The Ni48Ti50Fe2 wire had stress plateaus both during loading and unloading, associated with a reversible stress induced martensitic transformation, which changed to inflection points during cycling.
- From the point of view of CR-SME:
- Ni48Ti52 and Ni45Ti50Cu5 wires elongated with 4.5 and 5% developed CR stresses of 123 MPa and 147 MPa, when heated to 56 and 60 °C, respectively;
- Both Ni48Ti52 and Ni45Ti50Cu5 wires, when heated in elongated state, developed repetitive stress–temperature variations;
- Cu addition caused a larger relaxation capacity during cooling.
- From the point of view of the trade-off between SM shrinkage and SE recovery:
- When heated under the effect of a voltage of 4.5–5 V, the 5% pre-strained Ni45Ti50Cu5 wires developed a 28 mm stroke which elongated the Ni48Ti50Fe2 wire by means of leverage;
- When air-cooled, the Ni45Ti50Cu5 wires were elongated again by the unloading recovery of the Ni48Ti50Fe2 wire;
- SM shrinkage lasted a few seconds, while and SE recovery lasted up to 50 s;
- SM vs. SE displacement cycles could be repeated for tens of cycles, during which time a decreasing tendency of the specific energy dissipated by internal friction was noted;
- A robotic gripper was designed based on the antagonistic deformation of Ni45Ti50Cu5 and Ni48Ti50Fe2 wires;
- Compared to classical solutions, with hydraulic or mechanical actuation, the proposed system is more compact, rapid, economical, and ergonomic. Compared to other SMA-driven systems, the present solution can provide the manipulated objects’ fast grasping and slow release speeds.
- General conclusions:
- Here, 0.5 mm-diameter martensitic Ni48Ti52 and Ni45Ti50Cu5 wires were able to perform both WG-SME and CR-SME by repetitively lifting loads up to 4 kg, (developing works of 0.392–0.47 J) and by generating stress of 123–147 MPa (when pre-strained with 4.5 and 5%), respectively;
- Here, 5% pre-strained martensitic Ni45Ti50Cu5 wires and austenitic Ni48Ti50Fe2 wires developed a 28 mm stroke by SM/SE coupling, which was repeated during tens of cycles and accompanied by a decreasing tendency of energy dissipation by internal friction.
- The simulated three-fingers gripper has the potential to develop rapid grasping forces and slow release rates due to the direct coupling of pre-strained SM and SE wires.
- After manufacturing the gripper, additional experiments have to be performed to determine its real grasping and releasing rates and to test the training effect on these rates.
Supplementary Materials
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Wire Material | E | Ry | Rm | εy | εm |
---|---|---|---|---|---|
GPa | MPa | MPa | % | % | |
Ni48Ti52; | 38 | 259 | 279 | 0.8 | 5 |
Ni45Ti50Cu5 | 23 | 220 | 1177 | 1.2–5.7 | 12 |
Ni48Ti50Fe2 | 56 | 481 | 925 | 1-7.7 | 46 |
1st Cycle | 2nd Cycle | 3rd Cycle | 4th Cycle | 5th Cycle | ||||||
---|---|---|---|---|---|---|---|---|---|---|
W0 | Wrec | W0 | Wrec | W0 | Wrec | W0 | Wrec | W0 | Wrec | |
3.5 V | 640.35 | 393.55 | 687.2 | 452.5 | 644.7 | 455.6 | 663.35 | 455.8 | 762.85 | 504.7 |
4 V | 630.9 | 418.3 | 680.45 | 458.2 | 664.75 | 465.35 | 644.8 | 443.6 | 637.65 | 468.95 |
4.5 V | 550.45 | 341.55 | 550.5 | 356.2 | 666.8 | 429.8 | 529.7 | 338.85 | 549.6 | 362.8 |
5 V | 281.7 | 240.5 | 460 | 260.6 | 506.15 | 282.3 | 502.95 | 291.95 | 509.45 | 302.8 |
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Teodoriu, A.P.; Pricop, B.; Lohan, N.-M.; Popa, M.; Comăneci, R.I.; Doroftei, I.; Bujoreanu, L.-G. Designing a Robotic Gripper Based on the Actuating Capacity of NiTi-Based Shape Memory Wires. Actuators 2024, 13, 319. https://doi.org/10.3390/act13080319
Teodoriu AP, Pricop B, Lohan N-M, Popa M, Comăneci RI, Doroftei I, Bujoreanu L-G. Designing a Robotic Gripper Based on the Actuating Capacity of NiTi-Based Shape Memory Wires. Actuators. 2024; 13(8):319. https://doi.org/10.3390/act13080319
Chicago/Turabian StyleTeodoriu, Adrian Petru, Bogdan Pricop, Nicoleta-Monica Lohan, Mihai Popa, Radu Ioachim Comăneci, Ioan Doroftei, and Leandru-Gheorghe Bujoreanu. 2024. "Designing a Robotic Gripper Based on the Actuating Capacity of NiTi-Based Shape Memory Wires" Actuators 13, no. 8: 319. https://doi.org/10.3390/act13080319