Development of A Monolithic Shape Memory Alloy Manipulator

  • Kostyantyn Malukhin
  • Kornel Ehmann
Part of the IFIP — International Federation for Information Processing book series (IFIPAICT, volume 260)


The essential steps and issues in the development of a Shape Memory Alloy (SMA) based multi-degrees-of-freedom monolithic manipulator are reflected upon. The use of Direct Metal Deposition (DMD) will be described for the manufacture of the manipulator’s structure followed by the exploration of the feasibility of the “self-sensing” functionality of the structure as a basis for the manipulator’s control. Finally, a synopsis of a new mathematical model of the kinetics of the temperature-induced phase transformation that was developed and its experimental verification will be given and shown that the analytical predictions closely follow the experimentally measured responses.


Shape Memory Alloy Shape Memory Effect Shape Memory Alloy Wire Austenite Fraction Shape Memory Alloy Actuator 
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Copyright information

© International Federation for Information Processing 2008

Authors and Affiliations

  • Kostyantyn Malukhin
    • 1
  • Kornel Ehmann
    • 1
  1. 1.Department of Mechanical EngineeringNorthwestern UniversityEvanstonUSA

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