Modeling and Experimental Characterization of SMA Torsional Actuators

Abstract

This article presents the material modeling and experimental characterization of SMA rod and tube actuators undergoing pure torsional deformations. The investigation of the torsional characteristics of SMAs is carried out in order to gain a fundamental understanding of the behavior of SMA torsional actuators. The proposed application is to alter the twist distribution of a tiltrotor blade from hover to forward flight modes, providing improved flight efficiency in both modes of flight. To describe the behavior of the actuator, a torsional model involving the extension of the one-dimensional (uniaxial) formulation of SMA phenomenology is presented. As an example, Brinson's model is chosen as the representative uniaxial model; however, the approach used here to extend the uniaxial model into the torsional domain is applicable to nearly any uniaxial SMA model. The parameters for the uniaxial model are derived from extensional testing of an SMA rod or tube, and are then used to predict the torsional characteristics of the same material. A major advantage of this method compared to prior art in torsional modeling is that the simplicity of deriving and implementing the parameters from uniaxial testing is carried over into the torsional domain. This simplicity derives from the fact that the measured properties (forces and displacements) in tensile loading are more readily suited to determining the model parameters than the measured properties in torsional loading which have been used by previous researchers (angles and torques which are, in fact, integrated quantities from strains and stresses). This article also presents a comprehensive experimental investigation and model correlation with both tension and torsional behavior of SMA rods and tubes. The model is compared with experimental data including torsional actuation tests against torsional springs. It is shown that the theoretical model demonstrates good agreement with the experimental data over a wide range of thermomechanical conditions. In addition, experimental phenomena associated with the torsional behavior of the SMA actuator such as the effects of heat treatment, twist rate, and loading pattern are examined.