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.

PDF Url : ADA289501

Report Date : JUL 1992

Pagination or Media Count : 42

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 water/glycol 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