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2024 Vol.37, Issue 4 Preview Page

Research Paper

Estimation of Strain for Large Deformation in SMA-textile Actuator Using Nonlinear Geometry Analysis

비선형 기하해석을 이용한 SMA 섬유 액츄에이터의 대변형에 대한 변형률 추정

Muhammad Umar Elahi1
,
Jaehyun Jung2
,
Salman Khalid3
,
Heung Soo Kim4†
무함마드 우마르 일라히1
,
정 재현2
,
살만 칼리드3
,
김 흥수4†
1Ph.D Student, Department of Mechanical, Robotics and Energy Engineering, Dongguk University, Seoul, 04620, Korea
2Graudate Student, Department of Mechanical, Robotics and Energy Engineering, Dongguk University, Seoul, 04620, Korea
3Assistant Professor, Department of Mechanical, Robotics and Energy Engineering, Dongguk University, Seoul, 04620, Korea
4Professor, Department of Mechanical, Robotics and Energy Engineering, Dongguk University, Seoul, 04620, Korea
1동국대학교 기계로봇에너지공학과 박사과정
2동국대학교 기계로봇에너지공학과 석사과정
3동국대학교 기계로봇에너지공학과 연구교수
4동국대학교 기계로봇에너지공학과 교수
†Corresponding Author
31 August 2024. pp. 259-265
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Abstract

Shape memory alloy (SMA)-textile actuators have attracted significant attention across various fields, including soft robotics and wearable technology. These smooth actuators are developed by combining SMA and simple textile fibers and then knitting them into two loop patterns known as the knit (K-loop) and plain (P-loop) patterns. Both loops are distinguished by opposite bending characteristics owing to loop head geometry. However, the knitting processes for these actuator sheets require expertise and time, resulting in high production costs for knitted loop actuation sheets. This study introduces a novel method by which to assess the strain in SMA textile-based actuators, which experience large deformations when subjected to voltage. Owing to the highly nonlinear constitutive equations of the SMA material, developing an analytical model for numerical analysis is challenging. Therefore, this study employs a novel approach that utilizes a linear constitutive equation to analyze large deformations in SMA material with nonlinear geometry considerations. The user-defined material (UMAT) subroutine integrates the linear constitutive equation into the ABAQUS software suite. This equivalent unit cell (EUC) model is validated by comparing the experimental bending actuation results of K-loops and P-loops.

Keywords
constitutive model
equivalent unit cell model
large deformation
soft robotics
SMA-textile actuator

형상기억합금(SMA)-섬유 액추에이터는 소프트 로봇 공학 및 웨어러블 기술을 포함한 다양한 분야에서 큰 주목을 받아왔다. 이러한 부드러운 액추에이터는 SMA와 단순 직물 섬유를 결합하여 개발되었으며, K 루프와 P 루프라는 두 가지 루프 패턴으로 편직되었다. 두 루프 모두 루프 헤드 형상으로 인해 반대 굽힘 특성으로 구별된다. 그러나 이러한 액추에이터 시트의 편직 공정에는 전문 지식과 시간이 필요하므로 편직 루프 작동 시트의 생산 비용이 높아진다. 이 논문에서는 전압을 가할 때 큰 변형이 발생하는 SMA 직물 기반 액추에이터의 변형을 평가하는 새로운 방법을 소개하였다. SMA 재료의 매우 비선형적인 구성 방정식으로 인해 수치 분석을 위한 분석 모델을 개발하는 것은 어렵다. 따라서 본 연구에서는 SMA 재료의 대변형을 고려하면서 SMA-섬유 액추에이터의 초기 설계에 사용할 수 있는 선형 구성 방정식을 활용하는 새로운 접근 방식을 제안하였다. 전기-기계연성 효과를 모델링할 수 있는 선형구성방적식은 ABAQUS의 UMAT을 사용하여 구현하였다. 이 등가 단위 셀 모델(EUC)은 K-루프와 P-루프의 실험적 굽힘 작동 결과와 비교하여 검증하였다.

키워드
구성방정식
등가유닛셀 모델
대변형
소프트 로보틱스
SMA-섬유 액추에이터
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Information
  • Publisher :Computational Structural Engineering Institute of Korea
  • Publisher(Ko) :한국전산구조공학회
  • Journal Title :Journal of the Computational Structural Engineering Institute of Korea
  • Journal Title(Ko) :한국전산구조공학회 논문집
  • Volume : 37
  • No :4
  • Pages :259-265
  • Received Date : 2024-06-13
  • Revised Date : 2024-07-11
  • Accepted Date : 2024-07-24
  • DOI :https://doi.org/10.7734/COSEIK.2024.37.4.259
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