Development of a monolithic shape memory alloy manipulator

Kostyantyn Malukhin; Kornel Ehmann

doi:10.1007/978-0-387-77405-3_23

Development of a monolithic shape memory alloy manipulator

Kostyantyn Malukhin^*, Kornel Ehmann

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Scopus citations

Abstract

The essential steps and issues in the development of a Shape Memory Alloy (SMA) based multi-degrees-of-freedom monolithic manipulator are reflected upon. The use of Direct Metal Deposition (DMD) will be described for the manufacture of the manipulator's structure followed by the exploration of the feasibility of the "self-sensing" functionality of the structure as a basis for the manipulator's control. Finally, a synopsis of a new mathematical model of the kinetics of the temperature-induced phase transformation that was developed and its experimental verification will be given and shown that the analytical predictions closely follow the experimentally measured responses.

Original language	English (US)
Title of host publication	Micro-Assembly Technologies and Applications
Subtitle of host publication	IFIP TC5 WG5.5 Fourth International Precision Assembly Seminar (IPAS'2008) Chamonix, France February 10-13, 2008
Editors	Svetan Ratchev
Pages	243-250
Number of pages	8
DOIs	https://doi.org/10.1007/978-0-387-77405-3_23
State	Published - 2008

Publication series

Name	IFIP International Federation for Information Processing
Volume	260
ISSN (Print)	1571-5736

ASJC Scopus subject areas

Information Systems and Management

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10.1007/978-0-387-77405-3_23

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Malukhin, K., & Ehmann, K. (2008). Development of a monolithic shape memory alloy manipulator. In S. Ratchev (Ed.), Micro-Assembly Technologies and Applications: IFIP TC5 WG5.5 Fourth International Precision Assembly Seminar (IPAS'2008) Chamonix, France February 10-13, 2008 (pp. 243-250). (IFIP International Federation for Information Processing; Vol. 260). https://doi.org/10.1007/978-0-387-77405-3_23

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Malukhin, K & Ehmann, K 2008, Development of a monolithic shape memory alloy manipulator. in S Ratchev (ed.), Micro-Assembly Technologies and Applications: IFIP TC5 WG5.5 Fourth International Precision Assembly Seminar (IPAS'2008) Chamonix, France February 10-13, 2008. IFIP International Federation for Information Processing, vol. 260, pp. 243-250. https://doi.org/10.1007/978-0-387-77405-3_23

Development of a monolithic shape memory alloy manipulator. / Malukhin, Kostyantyn; Ehmann, Kornel.

Micro-Assembly Technologies and Applications: IFIP TC5 WG5.5 Fourth International Precision Assembly Seminar (IPAS'2008) Chamonix, France February 10-13, 2008. ed. / Svetan Ratchev. 2008. p. 243-250 (IFIP International Federation for Information Processing; Vol. 260).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - The essential steps and issues in the development of a Shape Memory Alloy (SMA) based multi-degrees-of-freedom monolithic manipulator are reflected upon. The use of Direct Metal Deposition (DMD) will be described for the manufacture of the manipulator's structure followed by the exploration of the feasibility of the "self-sensing" functionality of the structure as a basis for the manipulator's control. Finally, a synopsis of a new mathematical model of the kinetics of the temperature-induced phase transformation that was developed and its experimental verification will be given and shown that the analytical predictions closely follow the experimentally measured responses.

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Malukhin K, Ehmann K. Development of a monolithic shape memory alloy manipulator. In Ratchev S, editor, Micro-Assembly Technologies and Applications: IFIP TC5 WG5.5 Fourth International Precision Assembly Seminar (IPAS'2008) Chamonix, France February 10-13, 2008. 2008. p. 243-250. (IFIP International Federation for Information Processing). https://doi.org/10.1007/978-0-387-77405-3_23

Development of a monolithic shape memory alloy manipulator

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