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SMA Array Controls Team

SMA Array Controls Team. Team Members Clifton Christensen ccchristensen84@hotmail.com Andrew Ige andrew.ige@utah.edu Jason Lindstrom jason.lindstrom@utah.edu. Advisor Dr. Stephen Mascaro smascaro@mech.utah.edu. Presentation Outline. Project Introduction

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SMA Array Controls Team

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  1. SMA Array Controls Team Team Members Clifton Christensen ccchristensen84@hotmail.com Andrew Ige andrew.ige@utah.edu Jason Lindstrom jason.lindstrom@utah.edu Advisor Dr. Stephen Mascaro smascaro@mech.utah.edu SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  2. Presentation Outline • Project Introduction • Clifton Christensen • Design Approach • Jason Lindstrom • Progress • Future Plans • Andrew Ige SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  3. Finger Setup • Fluid Reservoirs • Manifold • Shape Memory Alloy Muscle Array • Pulley System SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  4. SMA Muscle Array Pumps Intake Tubing Manifold Mounting Pillar SMA Muscles Exhaust Tubing Hot Water Cold Water Tendons Pulleys Finger Fluid Reservoirs To Sink Picture Generated By Andrew Ige SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  5. Problem Definition • Improve The Efficiency Of The Shape Memory Alloy (SMA) Muscle Array • Expand The Versatility Of The SMA Array SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  6. Customer Needs • Improve The Overall Efficiency • Maintain The Scalability Of The Muscle Array • Keep The Entire System Compact SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  7. Innovation • Shape Memory Alloys • Displacement Sensing • Allow Autonomous Control • Recycling Systems • Overall Efficiency SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  8. Design Approach • Benchmarking • Linear Potentiometer • Linear Variable Displacement Transducer (LVDT) • Photoelectric • Concept Development • Sensing • Mounting SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  9. Benchmarking Linear Potentiometer • Pros • Simplicity • Linear Output • Cons • Size Model RD7121 Linear Potentiometer ALPS Electric SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  10. Benchmarking Linear Variable Displacement Transducer (LVDT) • Pros • Linear Output • Cons • Size • Cost Model 500 DC-SE LVDT Schaevitz Sensors SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  11. Benchmarking Model FLDK 110C1003/S42 (Laser) Photoelectric • Pros • Non-Contact • Resolution • Cons • Size • Cost Baumer Electric Ltd. SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  12. Concept DevelopmentSensing • Linear Encoder • Pros • No Calibration • Precise • Cons • Continuous Operation • Not Easily Scalable SMA Muscle ~3mm LED Photodetector Equally Spaced Black Lines Casing Picture Created By Clifton Christensen SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  13. Concept DevelopmentSensing • In-Line Optical • Pros • Sampled Operation • Scalable • Cons • Requires Calibration • Susceptible to Ambient Conditions Schematic of In-Line Sensing SMA Muscle ~3mm Tendon Connection Fluid Outlet LED Photodetector Varying Distance Picture Created By Clifton Christensen SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  14. Concept DevelopmentMounting • L-Shaped Cantilever • Pros • Ease of Assembly • Ease of Integration • Cons • Manufacturability • Possible Interference L-Shaped Cantilever Schematic Pillar Attachment Photodetectors Picture Generated By Clifton Christensen SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  15. Concept DevelopmentMounting • Interlocked Slats • Pros • Scalability • Ease of Wiring • Ease of Assembly • Cons • Manufacturability Interlocked Slats Schematic Pillar Attachment Interlocked Slats Photodetectors Picture Generated By Clifton Christensen SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  16. Concept DevelopmentMounting • Slats • Pros • Scalability • Ease of Assembly • Ease of Manufacture • Cons • Stability Slat Schematic Pillar Attachment Slats Photodetectors Picture Generated By Clifton Christensen SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  17. Progress • Critical Function Prototype • Materials • Mount • Electrical Components • Manufacturing SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  18. Photodetector Mount Detached Photodetector Mount Screws Plugs ¼” Nylon Wiring Photodiodes Slats Picture Generated By Andrew Ige SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  19. SMA Muscle Array Mount Placement On Muscle Array Mount Placement Adapted From Picture Generated By Andrew Ige SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  20. Future Plans • Improvements To Displacement Sensing • Sensing • Avoid Outside Interference • Mounting System • Attachments • Additions • Fluid Recycling SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  21. Summary • Project Introduction • Improve SMA Array Efficiency • Maintain Scalability • Possible Robotic Applications • Design Approach • Benchmarking of Linear Sensing Systems • Concept Development • Progress • In-Line Sensing and Mounting (CFP) • Future Plans SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

  22. Contact Information Team Members Clifton Christensen ccchristensen84@hotmail.com Andrew Ige andrew.ige@utah.edu Jason Lindstrom jason.lindstrom@utah.edu Advisor Dr. Stephen Mascaro smascaro@mech.utah.edu SMA Array Controls Team: ME 4000 Project Presentation 12-7-06

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