INTRODUCTION

 The development of new materials is of central

importance in every technological advancement.

 Our expectation of higher functionality along with

higher reliability from our technology has made the
use of advanced materials inevitable.

The current trend is to replace conventional

materials by what may be called “functional
materials”.
 NEED
 With the increase in the complexity of the physical
systems, there is a need to incorporate biological
capabilities like self adaptability, self sensing, memory
and feedback into the systems.

 Shape memory alloys are functional materials

exhibiting many unique properties. By exploitation of
these unique properties it is possible to design
systems that are more compact, more automatic and
possess previously unthinkable capabilities.
 DEFINITION
 Shape Memory Alloys (SMAs) is applied to a group
of metallic materials that when subjected to
appropriate thermal procedure demonstrate the
ability to return to some 'previously remembered
shape.

 This means that it is possible to imprint some

shape in the memory of these materials.
 This ability of 'memorising' a particular external shape
is a direct consequence of a thermodynamically
reversible transformation of the alloy's crystal
structure.

 In general, there are two crystal structures or phases

associated with a shape memory alloy. The phase
corresponding to higher temperature is called the
'austenite phase' and the one corresponding to lower
temperature is called the 'martensite phase'.
 In addition to the temperature induced shape
memory effect, SMAs also show 'superelastic
effect'. This means that if the material is kept at
constant temperature in the austenite phase and
mechanically loaded, it shows capability of
recovering large strains. The yield strain in
superelastic effect is nearly 30 times that of
normal steel.
 MATERIALS SHOWING SHAPE
MEMORY

 Most common class of shape memory alloys is

Nitinol (Ni-Ti alloys). Other alloys showing this effect
include CuZn, NiAl, NiMn, CuZnAl, CuZnSi, CuZnGa,
NiMnAl, NiMnCr, NiMnTi, NiTiFe, MnFeSi, AuCd
 HISTORY
 The earliest recorded observation of the shape
memory effect was by Chang and Read in 1932.
They noted the reversible change in the crystal
structure of AuCd.
 The real breakthrough came in 1962 when the effect
was found in equiatomic NiTi. Nickel Titanium alloys.
 A generic name of this group of alloys was coined as
Nitinol. Nitinol stands for Nickel Titanium Naval
Ordinance Laboratory. In 1980, it was used by NASA
in an Earth orbiting space station.
 THE SHAPE MEMORY EFFECT:
MECHANISM

 The martensitic transformations involve shearing

deformation resulting in cooperative diffusionless
atomic movement. This means that the atoms in the
austenite phase are not shifted independently but
undergo shearing deformation as a single unit while
maintaining relative neighborhood.
 A one-to-one lattice correspondence is maintained
between the atoms in the parent phase and the
transformed phase.
 HYSTERESIS LOOP
 The phase transformation from martensite to austenite
and back again, are described by a wide
hysteresis loop, shown in Fig.
 The phase transitions are characterised by four

transformation temperatures:
(i) As, the austenite start temperature; (ii) Af, the
austenite finish temperature;
(iii) Ms, the martensite start temperature; and (iv) Mf,
the martensite finish temperature.
HYSTERESIS LOOP
 The two phases of NiTi and their transformations are
depicted by the 2-dimensional matchbox model in
Figure.
 The stronger austenite phase, also known as the
parent phase,has a cubic atomic structure and is
represented by squares in Fig.
 As the alloy cools to the martensite phase in a
process called twinning, the crystal structure
becomes rhomboidal and is represented by collapsed
matchboxes.
 When heated again, it returns to its original cubic
form in the parent phase.
 SHAPE MEMORY EFFECT :
CHARACTERISTICS
 One way and two way shape memory effect

One way Two way

 (a) Adding a reversible deformation for the one-way
effect or severe deformation with an irreversible
amount for the two-way.
(b) heating the sample
(c) and cooling it again
(d) With the one way effect, cooling from high
temperatures does not cause a macroscopic shape
change.
 The two-way shape memory effect is the effect that
the material remembers two different shapes: one at
low temperatures, and one at the high temperature
shape.
STRESS STRAIN CURVE
 When an external stress is applied to the alloy when it
is fully martensitic, the alloy deforms elastically
(curve 1).

 If the stress exceeds the martensite yield strength,

detwinning occurs and a large non-elastic deformation
will result until the structure is fully detwinned
(curve 2).

 The martensite is strain recoverable up to this stage.

However, further increase in stress causes the
detwinned structure to deform (curve 3 ) until the
external stress begins to break the atomic bonds
between the martensite layers, resulting in permanent
plastic deformation
 For the austenite phase however, it has a higher yield
strength compared to martensite. Initially, the alloy
will behave elastically (curve 1 )until the stress
exceeds its yield strength.

 From that point onwards, plastic deformation will

ensue causing unrecoverable stretching upon
unloading (curves 2 and 3)
 EFFECTS OF ADDITIVES AND
IMPURITIES
 Fe substitution in Nitinol lowers the transformation
temperatures substantially. Cu does not change the
shape memory properties, but it causes a reduction in
hysteresis (As - Ms). Also, it improves the tensile
strength and other mechanical characteristics .
 The introduction of carbon in Nitinol affects the Ms
temperature. TiC precipitate forms and cause slight
degradation in tensile properties but improves fracture
properties by rendering increase in fracture stress and
strain
 Excess additions of Ni (upto 1%) in Nitinol strongly
depresses the transformation temperature and
increase the yield strength in the austenite.

 Oxygen, when higher than 0.61%, may cause an

intermediate phase in Nitinol.

 Nitrogen implantation improves the corrosion

resistance of TiNi but does not affects the
shape memory behaviour .
 APPLICATION
The Shape memory effect is currently being
implemented in:
 Coffeepots

 The space shuttle

 Thermostats

 Vascular Stents

 Hydraulic Fittings (for Airplanes)

Some examples of applications in which pseudo
elasticity is used are:
 Eyeglass Frames

 Undergarment

 Medical Tools

 Cellular Phone Antennae

 Orthodontic Arches
 EXAMPLES
Aerospace Applications

 Transportation of large sophisticated apparatus such

as a radio antenna to space .
 SMA wire tendons can be used as embedded
actuator elements to control the shapes of parts
such as elevators .
 With the use of quick connect-disconnect connectors,
it is possible to have non-explosive triggering of
auxiliary fuel tank and satellite release.
 Industrial Applications
 Connectors and Fasteners
 Monolithic Microgripper
 robotics actuators and micromanupulators
 Actuator for flow –Control gas valve
 BIOMEDICAL APPLICATIONS
 Orthodontic Archwires: These use the
superelasticity property of SMAs. When deflected,
these superelastic archwires will return gradually to
their original shape exerting a small and nearly
constant force on the misaligned teeth.
 A prime application of the free recovery property of
SMAs is the blood clot filter [21]. The TiNi wire is
first cooled and introduced into the vein. As it
warms up to the blood temperature, it forms a filter
inside the vein and catches the passing clots.
 Dental wires
Hip replacement

Super elastic glasses

Coffeepot thermostat
 IMPROVING THE SPEED OF
SHAPE MEMORY ALLOY
ACTUATORS BY
FASTER ELECTRICAL HEATING
Long Term Objective:

 To obtain fast, accurate, controlled motions and

forces from SMA actuators, so that we can build
and experiment with low −inertia robots.

 This work takes us one step in that direction, with a

simple method for rapid heating of SMA.
 ADVANTAGES
 mechanical simplicity .

 high power to weight ratio.

 small size.

 clean, silent, spark free operation.

 WHY FOCUS ON HEATING?
 The limiting factors on the speed of an actuator are
the heating and cooling rates of the SMA elements.
 The cooling rate can be increased by various
means, including forced air cooling, oil or water
cooling, and using thinner SMA wires;
 The heating rate can be increased simply by
passing a larger current through the element.
 currents beyond a certain magnitude have the
capacity to overheat the SMA, causing permanent
damage.
 KURIBAYASHI’S METHOD
Measure the temperature of the wire
If temperature is below threshold value

then allow large heating current

else set heating current to zero

 FASTER ELECTRICAL HEATING
 Measure the resistance of the wire

 Calculate a maximum safe heating current as a

function of measured resistance

 Set the heating current to the minimum of

1.the maximum safe heating current
2.the current requested by the control system
SELECTING THRESHOLD RESISTANCE
Rthresh,
 That marks the boundary between ‘safe’ resistances
and ‘possibly unsafe’ resistances.

 This quantity is defined to be the resistance of the

hot SMA element, plus a safety margin that
accounts for resistance measurement errors and
strain induced resistance changes.
 Maximum Safe Heating Current
 Given Rthresh, we can define a maximum safe
heating current, Imax(R), which is a function of the
measured resistance of the SMA element.
 CONCLUSION
 Electrical resistance provides an indication of
SMA temperature that is sufficient for preventing
overheating.
 Rapid heating via the proposed method yields a
substantial increase in speed, without changing
the cooling regime.
 Next step: A better motion controller

 Movie clip:- results

 REFERENCES
 Y. H. Teh 2003. A Control System for Achieving Rapid
Controlled Motions From Shape Memory Alloy (SMA)
Actuator Wires. B.Eng. Honours Thesis, Dept. Engineering,
The Australian National University.
 R. Featherstone & Y. H. Teh 2004. Improving the Speed of
Shape Memory Alloy Actuators by Faster Electrical
Heating. Int. Symp. Experimental Robotics.
 Y. H. Teh & R. Featherstone 2004. A New Control System
for Fast Motion Control of SMA Actuator Wires. Shape
Memory And Related Technologies.
 http://www.dynalloy.com/TechnicalData.html.
THANK YOU