• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 추계학술대회(한국공작기계학회)
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• pp.75-79
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• 2001

In the recent years, as the research and the development of micro and precision machinery become active, the interest of micro actuators using SMA(Shape Memory Alloy) has been increased. The dynamic characteristic analysis of SMA is necessary for actuator application and many common researches report the material characteristics of SMA sufficiently. However, the research on dynamic characteristics is very deficient. In this paper, the helical spring are fabricated with NiTi SMA wire of high resistivity, The force, response speed, temperature, and displacement are measured by digital force gauge, infrared thermometer, and laser displacement sensor so that the dynamic characteristics of this SMA is analyzed. Also, bidirectional actuator was fabricated and experimented for its performance.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.210-215
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• 2008

This paper presents an experimental study on a bending actuator with a shape memory alloy wire. In this study, we introduced design process and experimental result of the bending actuator. The bending actuator consists of a SMA wire, springs, and a glass/epoxy strip. In the bending actuator, springs were used to restore the SMA wire to its initial shape right after actuation. To obtain properties of the SMA wire, DSC test was performed and the behavior of the SMA wire under different loadings was observed. Finally, the proposed bending actuator shows reasonable actuation behavior with relatively lower power consumption, fast response and effective efficiency.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2005년도 춘계 학술대회논문집
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• pp.100-103
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• 2005

This work discusses the numerical analysis, the design and experimental test of the SMA (Shape Memory Alloy) actuator along with its capabilities and limitations. Convection heating and cooling using water actuate the SMA element of the actuator. The fuel such as propane, having a high energy density, is used as the energy source for the SMA actuator in order to increase power and energy density of the system, and thus in order to obviate the need for electrical power supplies such as batteries. The system is composed of a pump, valves, bellows, a heater (burner), control unit and a displacement amplification device. The actuation frequency is compared with the prediction obtained from numerical analysis. For the designed SMA actuator system, the results of numerical analysis were utilized in determining design parameters and operating conditions.

• Smart Structures and Systems
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• 제14권5호
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• pp.765-784
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• 2014

In comparison with conventional shape memory actuated structures, antagonistic shape memory alloy (SMA) actuators permits a fully reversible two-way response and higher response frequency. However, excessive internal stress could adversely reduce the stroke of the actuators under repeated use. The two-way shape memory effect might further decrease the range of the recovered strain under actuation of an antagonistic SMA actuator unless additional components (e.g., spring and stopper) are added to regain the overall actuation capability. In this paper, the performance of all four possible types of SMA actuation schemes is investigated in detail with emphasis on five key properties: recovered strain, cyclic degradation, response frequency, self-sensing control accuracy, and controllable maximum output. The testing parameters are chosen based on the maximization of recovered strain. Three types of these actuators are antagonistic SMA actuators, which drive with two active SMA wires in two directions. The antagonistic SMA actuator with an additional pair of springs exhibits wider displacement range, more stable performance under reuse, and faster response, although accurate control cannot be maintained under force interference. With two additional stoppers to prevent the over stretch of the spring, the results showed that the proposed structure could achieve significant improvement on all five properties. It can be concluded that, the last type actuator scheme with additional spring and stopper provide much better applicability than the other three in most conditions. The results of the performance analysis of all four SMA actuators could provide a solid basis for the practical design of SMA actuators.

• 한국기계가공학회지
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• 제10권5호
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• pp.51-57
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• 2011

The lightweight and compact actuator with high power is required to perform motion with multiple degrees of freedom. To reduce the size and inertia of a robot manipulator, the mechanical transmission system is used. The shape memory alloy(SMA) is similar to the muscle-tendon-bone network of a human hand. However, there are some drawback and nonlinearity, such as the hysteresis and the stress dependence. In this paper, the design of the underactuated robot hand is studied. The 3-finger dexterous hand is driven by the SMA actuator using segmental mechanism. This digital approach enables to overcome the nonlinearity of SMA wire. The translational displacement of SMA actuator required to bend a phalanx of the underactuated robot hand is estimated and the bending angle of the underactuated robot hand according to input displacement of SMA actuator is predicted by the multi-body dynamic analysis.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.755-758
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• 1997

In the recent years, as the research and the development of micro and precision machinery become active, the interest of micro actuators using SMA(Shape Memory Alloy) has been increased. The dynamic characteristic analysis of SMA is necessary for actuator application and many common researches report the material characteristics of SMA sufficiently. However, the research of dynamic characteristics is very deficient. In this paper, the helical spring is fabricated with NiTi SMA wire of high resistivity The force, response speed, temperature, and displacement are measured by digital force gauge, infrared thermometer, and laser displacement sensor so that the dynamic characteristics of this SMA actuator is analyzed.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.287-290
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• 2004

A structure using the two-way shape memory effect (TWSME) returns to its initial shape by increasing or decreasing temperature under initial residual stress. Through the thermo-mechanical constitutive equation of shape memory alloy(SMA) proposed by Lagoudas et al., we simulate the behavior of a double actuator in which two SMA wires are attached to the tip of panel under the initially given residual stress. Through the numerical results conducted in the present study, the proposed actuator device is suitable for repeated actuation. The simulation algorithm proposed in the present study can be applied extensively to the analysis of the assembled .system of SMA-actuator and host structure in the practical applications.

• Smart Structures and Systems
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• 제14권4호
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• pp.541-558
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• 2014

This paper proposes a new design of shape memory alloy (SMA) wire actuated gripper for open mode operation. SMA can generate smooth muscle movements during actuation which make them potentially good contenders in designing grippers. The principle of the shape memory alloy gripper is to convert the linear displacement of the SMA wire actuator into the angular displacement of the gripping jaw. Steady state analysis is performed to design the wire diameter of the bias spring for a known SMA wire. The gripper is designed to open about an angle of $22.5^{\circ}$ when actuated using pulsating electric current from a constant current source. The safe operating power range of the gripper is determined and verified theoretically. Experimental evaluation for the uncontrolled gripper showed a rotation of $19.97^{\circ}$. Forced cooling techniques were employed to speed up the cooling process. The gripper is simple and robust in design (single movable jaw), easy to fabricate, low cost, and exhibits wide handling capabilities like longer object handling time and handling wide sizes of objects with minimum utilization of power since power is required only to grasp and release operations.

• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2003년도 추계학술발표대회 논문집
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• pp.146-149
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• 2003

Two-way shape memory effect(TWSME) under residual stresses are considered in the present study. The structure using two-way shape memory alloy(SMA) concept returns to its initial shape by increasing or decreasing temperature under the initially given residual stress. In the present study, we use a thermo-mechanical constitutive equation of SMA and laminated composite plates are considered as simple morphing structural components which are based on first order shear deformable laminated composite plate with large deflection. Numerical results of fully coupled SMA-composite structures are presented

• 한국전산유체공학회지
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• 제10권2호
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• pp.48-53
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• 2005

This work discusses the numerical analysis, the design and experimental test of the SMA actuator along with its capabilities and limitations. Convective heating and cooling using water actuate the SMA(Shape memory alloy) element of the actuator. The fuel such as propane, having a high energy density, is used as the energy source for the SMA actuator in order to increase power and energy density of the system, and thus in order to obviate the need for electrical power supplies such as batteries. The system is composed of a pump, valves, bellows, a heater(burner), control unit and a displacement amplification device. The experimental test of the SMA actuator system results in 150 MPa stress(force : 1560 N) with $3\%$ strain and 0.5 Hz. actuation frequency. The actuation frequency is compared with the prediction obtained from numerical analysis. For the designed SMA actuator system, the results of numerical analysis were utilized in determining design parameters and operating conditions.