Presented at the COMSOL Conference 2008 Boston

October 7th, 2008

FE Analysis of SMA-Based Adaptive Structures

Shibin Yang
Stefan Seelecke
Department of Mechanical &
Aerospace Engineering
North Carolina State University
syang5@ncsu.edu
stefan.seelecke@ncsu.edu
 October 7th, 2008

Introduction
Shape Memory Alloys (SMA) are characterized by two distinct
features:
Motivation

Modeling

 Shape memory effect

Analysis  Superelasticity
Conclusions

Future Work

Provides flexible, low cost, low weight actuation with highest work
output of all known actuation mechanisms.
Can be used as fatigue-free solid state one-component joint based
on flexible hinge mechanism.

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 October 7th, 2008

Introduction
BATMAV Project
Motivation

Design and Fabrication of a

Modeling bio-inspired bat-like MAV
platform with flapping flight
Analysis capability

Conclusions

Phase 1: Design and

Future Work fabrication of skeleton
structure

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 October 7th, 2008

Introduction
Muscle wire actuation and
Motivation
superelastic joints

Modeling
supraspinatus humerus radius

Analysis

Conclusions

Future Work teres biceps triceps extensor flexor

major carpi radialis carpi ulnaris

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 October 7th, 2008

Stress-strain relation
strain values at minima of Gibbs energy
σ  σ   σ 
Introduction
wells
ε = xεA = x+Aεx +A+ x ++ε ε+ T+ +x −xε− − − ε T 
Motivation
EA  EM   EM 
phase fractions Gibbs Free Energy
Kinetics of phase transformation
Modeling

x + = − x + p + A + x A p A+
Analysis

x − = − x − p − A + x A p A−
Conclusions
transition probabilities
Future Work

αβ 1  ∆gαVLE 
p = exp −  strain
τα  k BT 
Energy balance

mcT = −αAS (T − TE (t )) + j (t ) − x + H + (σ ) − x − H − (σ )
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 October 7th, 2008

Introduction
• SMA wire actuator COMSOL implementation

Motivation
Stress-strain constitutive relation:

E M [ε − ( x+ − x− )ε T ] ∂u
Modeling
σ (ε ) = ε= ≡ ux
E ∂x
x+ + x− + M x A
EA
u 
Analysis ∂U x 
General form PDE: dα + ∇⋅Γ = F Solution variables: U =  + 
∂t  x− 
Conclusions
 0   T 
0 0 0 0   u  σ ( x)  
 0  − x+ p (σ , T ) + (1 − x+ − x− ) p (σ , T )
+A A+
0   x 
Future Work  1 0 0   +  + ∂   =  − x p − A (σ , T ) + (1 − x − x ) p A− (σ , T ) 
0 0 1 0   x−  ∂x  0   − + −

       − α
l ( x )
− + 
− − ρ
c
 0 ( hM+ h ) ( hM− h ) c   T  0  (T T 0 ) j (t )
 
A A
A( x)

Boundary conditions: u (0, t ), u ( L, t ) or σ (0, t ), σ (L, t)

∂T(0, t) ∂T(L, t)
T(0, t), T(L, t) or ,
∂x ∂x

Initial conditions: u ( x,0), x ± ( x,0), T(x,0)

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 October 7th, 2008

SMA left
wire

Flexible
Beam
SMA right
wire

left wire
Joule Heating (W)

right wire

Time(s)

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 October 7th, 2008

Introduction
• Superelastic SMA beam implementation

Motivation
Based on the small deformation Euler-
Bernoulli beam theory, a SMA beam is
treated as consisting of several layers.
Modeling

Equilibrium equation
Analysis ∂Q
= −q (x)
∂x
Conclusions The relation between the shear force Q(x) and the cross –section moment M(x)
∂M
=Q
Future Work ∂x

Stress-strain relation The cross-section moment can be

E M [ε ( x, y ) − ( x + − x − )ε T ] approximated using Gauss integration as
σ ( x, y ) =
E
x+ + x− + M x A h2
EA M ( x) = b ∫ yσ ( x, y )dy
∂θ −h 2
ε ( x, y ) = − y bh 2 1
∂x h
∂W
=
4 −1∫ ξσ ( x, ξ )dξ (y = ξ)
2
=θ 2 n
∂x bh h
= ∑
4 i =1
wiξ iσ ( x, ξ i )
2
Solution variables U = [Q M θ W x1+ x −i  x +n x −n ]T
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 October 7th, 2008

Introduction

Motivation

Modeling
SMA wire
actuator
Analysis

Humerus Radius

Conclusions
Superelastic
SMA joint
Future Work

F
F

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 October 7th, 2008

Bone-joint system
Introduction

Joule heating
SMA wire
Strain ε
Motivation
React force F
Movement
Modeling Structure

Analysis React moment M Rotation constraint φ

SMA beam
Conclusions
y-displacement W

Future Work
temperature
Joule Heating

10 time
 October 7th, 2008

Introduction
SMA wire actuator

Motivation

actuator force
temperature

Modeling

Analysis

Conclusions

time time
Future Work
actuator stroke
phase fractions

time time
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 October 7th, 2008

Introduction
SMA joint

Motivation

Modeling

Analysis

Conclusions

Moment M(t) Moment ~ rotation angle

Future Work

Phase fraction x+ Phase fraction x-

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 October 7th, 2008

Introduction

Motivation
 FE analysis of an adaptive implementing SMA in
Modeling two different ways
Analysis
Thermally activated actuator wire
Conclusions
Superelastic flexible hinge
Future Work
 Implementation in COMSOL through general PDE
mode
 Coupling to Structural Mechanics Module
 Example: BATMAV joint actuation

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 October 7th, 2008

Introduction

 Extend joint model to 3D

Motivation

Modeling
 Two-beam joint
Analysis

Conclusions
 Simulate entire wing
Future Work

 Implement control algorithm through Simulink

coupling

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 October 7th, 2008

Thank you for your attention!

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 October 7th, 2008

Standoff
Stubs
SMA wire

Flexible Beam
Joule Heating (W)

Temperature (K)

Time(s)

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 October 7th, 2008

Introduction
• Superelastic SMA cantilever beam bending M

Motivation

Modeling

Analysis

Conclusions

Future Work

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