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DTIC ADA282891: Legged Vehicle for Underwater Mobile Operations
by Defense Technical Information Center
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This report summarizes technical information gained from
an investigation into utilizing SMA actuators as muscle
components for the biologically based lobster system to
be developed under this project. In order for the SMA
actuators to be of value in controlling leg motion of the
lobster they must be able to contract and relax in a
controlled manner much like muscles. SMA wires made of
Nitinol do contract when heated and relax when cooled.
The heating mechanism in this application is directly
related to current density passed through the wire. If a
large number of cycles are required, as in our
application, the contraction should be limited to about
3%. This can provide a cycle life of millions provided
that proper protection from overstressing, overstraining,
and overheating are designed into the system. SMA
contraction time can be quite fast (0.1 seconds or less)
depending on the current pulse amplitude and width. SMA
wires are very strong relative to their size. A 4%
contraction can exert stresses of 25,000 psi. Control of
each actuator requires that current pulses of proper
amplitude and duration be applied at the correct times in
order to not overheat the wires. Proper control of SMA
wires for this application will require sensory feedback
Date Published: 2018-03-19 06:03:33
Identifier: DTIC_ADA282891
Item Size: 8891394
Language: english
Media Type: texts
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DTIC Archive; Jalbert, Jim; MASSA PRO...
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