1.
INTRODUCTION
Shape Memory Alloys (SMA) such as Ag-Cd, Au-Cd, Cu-Al-Ni, Cu-Sn, Cu-Zn-(X), In-Ti, Ni-Al, Ni-Ti,
Fe-Pt, Mn-Cu and Fe-Mn-Si are a group of metallic materials that can be deformed at one temperature but
when heated or cooled, return to their original shape as it is showed in Figure 1. The fascinating
properties of Shape Memory Alloys (SMA) have inspired engineers all over the world ever since their
discovery. The reason for their attractiveness lies in the fact their microstructural changes when subjected
to temperature or magnetic field changes.
Other property of SMA, which is very important to emphasize, is superelasticity. Superelasticity is the
ability to elastically deform to higher than normal levels when mechanically deformed, nearly to 11%,
between the Af and Md temperatures. Most metals only have the ability to elastically deform less than 1%
strain. While in this temperature range, SMA material results in a phase transformation from austenite to
detwinned martensite. Upon unloading, the martensite phase becomes unstable and transforms back to its
original austenite phase. [4]
With simple words SMA shows its superelasticity when load is removed and shape memory effect is
being activated with heating or cooling. It is generally accepted that SMA’s are controlled superelastic
materials.
Figure 1. Transformation of SMA [1]
Actuators in general represent a component of a system that is responsible for moving and controlling in
response to an output.
As it is defined before, SMA are materials that show ability to return to shape defined before when
subjected to appropriate thermal procedure. Shape memory alloys enable development of simple, very
compact, reliable actuators that can be integrated into any component or structure in different
environments. [2]
After defining specifications of the system and analyzing its functionalities in a way of performance, size,
cost and reliability it is decided to use NiTinol for designing this linear actuator. Actuator must be
designed to safely carry out a high number of cycles before reaching a yield point and mechanical
breakage. Because of its shape memory effect, pseudoelasticity, high actuation stress, high actuation
strain NiTinol can be used as an actuator, providing force during shape recovery or large, recoverable
deformations at relatively constant stress levels but also large displacements with small component
lengths. [2, 4]
Nitinol is an alloy of roughly 50% Nickel and 50% Titanium. It was named after its chemical components
and its founders: Ni (Nickel) + Ti (Titanium) + NOL (Naval Ordinance Lab). The most important
characteristics of this smart material, shape memory effect and superelasticity, make Nitinol
extraordinarily unique from other engineering metallic alloys. Other frequently used elements are iron and
chromium (to lower the transformation temperature), and copper (to decrease the hysteresis and lower the
deformation stress of the martensite).
The implementation of SMA wires coupled with a simple DC control system can be used to drive small
objects without the addition of relatively heavy motors, gears, or drive mechanisms. In a
thermomechanical system, SMAs can be used as combined sensors and actuators where they can sense
the changes in external stimuli and monitor certain desired functions. The unique characteristics of SME
and SE discussed earlier have made SMAs the material system of choice in applications ranging from
sensing and control, vibration damping, biomedical, automotive and aerospace areas. [1]
Till today SMA haven’t been used in everyday kitchen tools so much. It is mostly used in linear
movements, such as moving forward and back, up and down or opening and closing. In order to widen its
application area, this kind of linear actuators can be used in electric tea maker machine, as a mechanism
for sinking the tea basket into water as it is showed in Fig.2. Mechanism will be positioned out of the
machine, next to the holder of the machine so SMA will not be in hot water.
Bu çalışmada SMA kullanarak bir çaydanlık için doğrusal akyüatör tasarımı araştırılmıştır.
Figure 2. Electric Tea machine with SMA Actuator
Actuator will consist of two, reverse to each other, springs as we can see in Fig.2. This double spring
actuator behaves in a linear way. When springs are arranged in series, each spring is subjected to the force
applied. SMA springs will be designed so that same energy because of extending in one spring and
compressing in the other. When energized first spring will be extending and compressing in second spring
will also help the first one to extend. After time is passed de-energizing will bring springs to the first
position or in this application when energized springs will push the tea basket to water, and when de-
energized will take out.
DESIGN OF SHAPE MEMORY ALLOY LINEAR ACTUATOR USED FOR ELECTRIC TEA
MACHINE
1.1. Analytical approaches for Geometric ptoperties spring dimensioning of lineer
actuator
In calculations for designing spring following symbols are used:
P- load, δ-deflection, D- spring diameter, d-wire diameter, c-spring index , R-coil radius, n-number of
active turns, L-spring’s length, τ-shear stress, G-shear modulus.
Figure 3. SMA spring
In Fig.3. development of compression coil spring under an axial load P is showed. It is assumed that pitch
angle is relatively small so bending and compressive forces are ignored. Shear stress τ occurs at the
surface of the wire and can be found by the following. [3]
16∙𝑃∙𝑅
τ= 𝜋∙𝑑 3
Next we will calculate the deflection due to an axial load P.
64 ∙𝑃∙𝑅3 ∙𝑛 8 ∙𝑃∙𝐷2 ∙𝑛
δ= R∙ φ= =
𝐺∙𝑑 4 𝐺∙𝑑 4
Spring constant k is then
𝑃 𝐺∙𝑑 4
k= 𝛿 = 8∙𝑛∙𝐷3
G represents elasticity coefficient for shearing or torsion force and depends upon the conditions as
temperature or duration but it is taken to be constant. Calculations were performed using 25Gpa as a high
temperature shear modulus GH, and 2.5 GPa as a value of a low temperature shear modulus GL. [1, 3]
In this example loads at high and low temperature differ; load PH=0.5N, deflection δH=0.08 m, load PL=
0.3N and deflection δL=0.1 m.
Shear strain is factor that depends upon the number of times the operation is repeated so it is better to
keep γmax smaller. To ensure log lifespan γmax of 1.5% is used and it is equal to shear strain at low
temperatures. If γL=1.5% γH can be calculated from following relation.[3]
γH∙GH = γL∙GL
γH= 0.00162
Since γL =1.5% and GL= 2.5GPa , we calculate τL= γL ∙ GL= 0.015∙7.5= 0.0405 GPa
Assuming that C=6 and k=1.28 [Kitap] ,and substituting PL and τL into following formula will give us
wire’s diameter.
8∙𝑃∙𝐷 𝐶∙8∙𝑃
τ= k∙ 𝜋∙𝑑 3
= k∙ 𝑑2 ∙𝜋 (*)
𝑘∙𝐶∙8∙𝑃
d =√ 𝜋∙𝜏
= 0.000496m
First step of dimensioning of spring is done. Substituting d=0.000496m into (*) formula gives
𝜏∙𝜋∙𝑑 3
D= 𝑘∙8∙𝑃
= 0.005062m
Finding spring’s diameter d and coil diameter D makes two steps in designing process done. Substituting
their values and difference between shear strains at high and low temperatures,
Δγ=γH-γL,
into relation between γ and deflection δ
𝑑∙𝛿
Δγ=
𝜋∙𝑛∙𝐷 2
the following results:
𝑑∙𝛿
n= 𝛥𝛾∙𝜋∙𝐷2 = 46
Becouse spring is fixed, the total number of coils is N= n+2 [1]:
N=48
Length of the spring is then :
l= D∙N∙π = 0,76 m
It is important to underline that load and displacement cannot be chosen completely arbitrarily. The
following relation must be satisfied:
𝑃𝐻 𝑃
= 𝐿
𝐺𝐻 ∙𝛿𝐻 𝐺𝐿 ∙𝛿𝐿
ASSUMPTIONS
Örneğin yay kuvvetleri eksenel Kabul edilmiş, yanal yay kuvvetleri ignore edilmişti.r
Yay plastic defromasyona girmediği varsityılmıştır.
1.2. Time needed to heat up and cool down the spring
Time depends also on material characteristics and ambient temperature, so it is not the same if spring is
heated in hot or cold environment. In most of practical usages SMA spring is heated by current, in this
case with 4.5A current. Calculations of time needed to heat up or cool down are done by considering the
total heat supplied by joule heating and the increase in the internal energy due to changing temperature
and they are based on the following equation. [1]
m∙Cp∙ 𝛥𝑇 + m∙L= [-h∙(Tavg- Tamb) + I2∙R] ∙Δt
so time needed to heating/cooling is :
m∙Cp∙𝛥𝑇+ m∙L
Δt= −h∙(Tavg− Tamb) + 𝐼2 ∙R
Where m is mass of the spring, Cp is heat capacity per unit mass, L is latent heat per unit mass, Tavg is
average temperature, Tamb is temperature of the environment of the spring, R is electrical resistance, ρm
is density, h is heat transfer coefficient and 𝜌 is resistivity.
If we enter formulas for m and R,
m= V∙ρm = A∙l∙𝜌𝑚
𝜌∙𝑙
R= 𝐴
We get following equation:
A∙l∙𝜌 ∙Cp∙𝛥𝑇+ A∙l∙𝜌𝑚 ∙L
𝑚
Δt= h∙(Tavg− Tamb)∙A∙l 𝜌∙𝑙∙𝐴
− + 𝐼2 ∙ 2
A∙l 𝐴
𝜌𝑚 (∙Cp∙𝛥𝑇+ L)
Δt= 4∙h∙(Tavg− Tamb) 16∙𝜌
− + 𝐼2 ∙ 2 4
d2∙ ∙π∙l 𝜋 ∙𝑑
If diameter of wire and its length were calculated before , and 𝜌m= 6540 kg/m3, Cp= 832 J/kgC, L= 24200
J/kg, h= 42 W/m2C , I=4.5A, ρ=µΩmm then time taken to heat up the spring is t= 0.33 s.
[1] A. Rao, A.R. Srinivasa, J.N. Reddy, “ Design Of Shape Memory Alloy (SMA) Actuator” , Texas
A&M University , TX, USA
[2] F.Butera, 2008, “Shape Memory Actuators for automotive applications”, SAES Getters S.p.A.,
Milano, Italy
[3] Funakudo,H, 1987 , Shape Memory Alloys , Post office Box 768 , New York
[4] J.M. Jani , 2016, “ Design Optimisation of Shape Memory Alloy Linear Actuator Applications” , PhD
Thesis, RMIT University , Australia
[5] Chen , H, 2009, Shape Memory Alloys : Manufacture Properties and Applications , Nova Science
Publishers, Inc. New York
