Accession Number:

ADA289501

Title:

Shape Memory Alloy Actuators in a Simple Force-Reflecting Teleoperator.

Descriptive Note:

Final rept. 1 Jun 91-4 Jul 92,

Corporate Author:

ARMSTRONG LAB WRIGHT-PATTERSON AFB OH CREW SYSTEMS DIRECTORATE

Personal Author(s):

• Hasser, Christopher J.
• Munday, Edgar G.

Report Date:

1992-07-01

Pagination or Media Count:

42.0

Abstract:

A one-degree-of-freedom prototype was constructed to investigate the potential of shape memory alloy SMA wires as actuators in force-feedback teleoperated systems. One possible application would be in force-reflecting exoskeletons. A simple on-off system controlled the master and slave actuators of the prototype. The prototype serves as a proof-of-concept model and a foundation for a more sophisticated system with microprocessor-controlled feedback and pulse width modulation PWM power sources. Additional experimentation provided data on SMA wire cooling times in air, in a waterglycol mix, and in distilled water. An attempt to use infrared IR temperature measurement to improve power control and thus reduce response time was not successful.

Descriptors:

• *NICKEL ALLOYS
• *TITANIUM ALLOYS
• *TWINNING(CRYSTALLOGRAPHY)
• ROBOTICS
• MICROPROCESSORS
• TEMPERATURE
• PHASE TRANSFORMATIONS
• WIRE
• DEFORMATION
• SHAPE
• STRAIN(MECHANICS)
• COOLING
• AUSTENITE
• DEGREES OF FREEDOM
• MEMORY DEVICES
• FEEDBACK
• ELECTRICAL RESISTANCE
• ACTUATORS
• STRENGTH WEIGHT RATIO
• PULSE MODULATION
• TELEOPERATORS
• MARTENSITE

Subject Categories:

• Properties of Metals and Alloys
• Crystallography

Distribution Statement:

APPROVED FOR PUBLIC RELEASE