THE PROJECT DEVELOPS NEW TYPES OF ACTUATORS FOR ROBOTS WITH
PREHENSION DEVICES (GRIPPER) BY MEANS OF A COLLABORATIVE
RESEARCH OF ONE TEAM THAT INCLUDES EXPERTS IN THE FIELD OF
MATERIALS SCIENCE, ROBOTICS, AND PHYSICS. THE NEW CONCEPT
CONSISTS IN OBTAINING ACTUATORS WITH TWO HOT SHAPE AND TWO
COLD SHAPES, ACCORDING TO THE DOUBLE ORDERING OF AUSTENITE
(D03-B2-A2), IN THE CASE OF COPPER BASED SHAPE MEMORY ALLOYS
AND IN THE CASE OF TITANIUM SMAS IN THE FORMATION OF
NANOPRECIPITATES (NANOPARTICLES) IN THE AUSTENITIC MATRIX
WHICH HAVE THE ROLE OF LOCALLY CHANGING, AROUND THE
PRECIPITATES, THE CHEMICAL COMPOSITION OF THE MATRIX, THUS
DETERMINING TWO MARTENSITIC TRANSFORMATIONS ON COOLING THAT
TAKE PLACE IN DIFFERENT TEMPERATURE RANGES. THE OCCURRENCE OF
A SIMILAR PHENOMENON WILL ALSO BE STUDIED IN CU BASED SMAS BY
ACTING UPON MARTENSITE NANOSTRUCTURE BOTH BY COMPLEX
ALLOYING AND BY THERMOMECHANICAL TRAINING. IN THIS WAY THREE
SMA SYSTEMS WITH NEW PROPERTIES ARE FORMED WHICH WILL BE
USED AS COMPONENTS OF AN EXPERIMENTAL ROBOT, WHERE THEY
DEVELOP WORK GENERATING SHAPE MEMORY EFFECT, BY CONTROLLING
A PREHENSION DEVICE. THE ENTIRE PROCESS, WHICH INCLUDES HEATING
AND COOLING OF THE SMA ELEMENTS, STROKES AND FORCES
DEVELOPED BY ACTUATORS IS CONTROLLED AND MONITORED BY MEANS
OF A COMPUTER.
