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
 NEED
 With the increase in the complexity of the
physical systems, there is a need to incorpo­
rate 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
 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
 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
 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
Coffeepot thermostat glasses
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
 The
HEATING?
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
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.
THANK YOU