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A shape memory alloy–based soft morphing actuator capable of pure twisting motion
Rodrigue, Hugo,Bhandari, Binayak,Han, Min-Woo,Ahn, Sung-Hoon SAGE Publications 2015 Journal of intelligent material systems and struct Vol.26 No.9
<P>This article introduces a novel design for a soft morphing actuator capable of pure twisting motion through a pair of shape memory alloy wires embedded in a polydimethylsiloxane matrix at constant and opposite eccentricity across the cross section in opposite directions. This report introduces the design of the actuator, the manufacturing method, and experimental results for the twisting angle and twisting force when varying the dimensions of the matrix of the actuator. Afterward, a simple model is applied to verify the effect of matrix dimensions on the twisting angle of the actuator. The results show that there is an optimal actuator thickness for both the twisting angle and the twisting force of the actuator, that there is a trade-off between the twisting angle and the twisting force for the actuator's thickness, and that a longer length is better for both metrics within the tested dimensions.</P>
Cross-Shaped Twisting Structure Using SMA-Based Smart Soft Composite
안성훈,Hugo Rodrigue,WANGWEI,Binayak Bhandari,한민우 한국정밀공학회 2014 International Journal of Precision Engineering and Vol.1 No.2
Smart soft compositeThis paper introduces a novel geometry for a pure-twisting soft morphing actuator that improves the stability of the actuator and allows it to obtain a larger twisting angle. The smart soft composite (SSC) actuator uses pair of NiTi shape memory alloy (SMA) wires embedded in a cross-shaped polydimethylsiloxane (PDMS) matrix at constant and opposite eccentricity across the cross-section in opposite directions in order to produce a twisting motion. To evaluate the twisting performance of the cross-shaped actuator, specimens with rectangular cross-sections and cross-shaped cross-sections are made and their twist angles are measured and compared. Results show that the cross-shaped actuator is capable of a higher twisting rate by using a thinner flange due to a more stable twisting motion. (SSC), Twisting actuator, Shape memory alloy (SMA), Cross This paper introduces a novel geometry for a pure-twisting soft morphing actuator that improves the stability of the actuator and allows it to obtain a larger twisting angle. The smart soft composite (SSC) actuator uses pair of NiTi shape memory alloy (SMA) wires embedded in a cross-shaped polydimethylsiloxane (PDMS) matrix at constant and opposite eccentricity across the cross-section in opposite directions in order to produce a twisting motion. To evaluate the twisting performance of the cross-shaped actuator, specimens with rectangular cross-sections and cross-shaped cross-sections are made and their twist angles are measured and compared. Results show that the cross-shaped actuator is capable of a higher twisting rate by using a thinner flange due to a more stable twisting motion.
Seismic response of current RC buildings in Kathmandu Valley
Chaulagain, Hemchandra,Rodrigues, Hugo,Spacone, Enrico,Varum, Humberto Techno-Press 2015 Structural Engineering and Mechanics, An Int'l Jou Vol.53 No.4
RC buildings constitute the prevailing type of construction in earthquake-prone region like Kathmandu Valley. Most of these building constructions were based on conventional methods. In this context, the present paper studied the seismic behaviour of existing RC buildings in Kathmandu Valley. For this, four representative building structures with different design and construction, namely a building: (a) representing the non-engineered construction (RC1 and RC2) and (b) engineered construction (RC3 and RC4) has been selected for analysis. The dynamic properties of the case study building models are analyzed and the corresponding interaction with seismic action is studied by means of non-linear analyses. The structural response measures such as capacity curve, inter-storey drift and the effect of geometric non-linearities are evaluated for the two orthogonal directions. The effect of plan and vertical irregularity on the performance of the structures was studied by comparing the results of two engineered buildings. This was achieved through non-linear dynamic analysis with a synthetic earthquake subjected to X, Y and $45^{\circ}$ loading directions. The nature of the capacity curve represents the strong impact of the P-delta effect, leading to a reduction of the global lateral stiffness and reducing the strength of the structure. The non-engineered structures experience inter-storey drift demands higher than the engineered building models. Moreover, these buildings have very low lateral resistant, lesser the stiffness and limited ductility. Finally, a seismic safety assessment is performed based on the proposed drift limits. Result indicates that most of the existing buildings in Nepal exhibit inadequate seismic performance.
Paper : Smart Phone Robot Made of Smart Soft Composite (SSC)
( Wei Wang ),( Hugo Rodrigue ),( Jang-yeob Lee ),( Min-woo Han ),( Sung-hoon Ahn ) 한국복합재료학회 2015 Composites research Vol.28 No.2
Soft morphing robotics making use of smart material and based on biomimetic principles are capable of continuous locomotion in harmony with its environment. Since these robots do not use traditional mechanical components, they can be built to be light weight and capable of a diverse range of locomotion. This paper illustrates a flexible smart phone robot made of smart soft composite (SSC) with inchworm-like locomotion capable of two-way linear motion. Since rigid components are embedded within the robot, bending actuators with embedded rigid segments were investigated in order to obtain the maximum bending curvature. To verify the results, a simple mechanical model of this actuator was built and compared with experimental data. After that, the flexible robot was implemented as part of a smart phone robot where the rigid components of the phone were embedded within the matrix. Then, experiments were conducted to test the smart phone robot actuation force under different deflections to verify its load carrying capability. After that, the communication between the smart phone and robot controller was implemented and a corresponding phone application was developed. The locomotion of the smart phone robot actuated through an independent controller was also tested.