Development of a monolithic shape memory alloy manipulator

Kostyantyn Malukhin*, Kornel Ehmann

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


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 languageEnglish (US)
Title of host publicationMicro-Assembly Technologies and Applications
Subtitle of host publicationIFIP TC5 WG5.5 Fourth International Precision Assembly Seminar (IPAS'2008) Chamonix, France February 10-13, 2008
EditorsSvetan Ratchev
Number of pages8
StatePublished - 2008

Publication series

NameIFIP International Federation for Information Processing
ISSN (Print)1571-5736

ASJC Scopus subject areas

  • Information Systems and Management

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