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Compliant bending tubular mechanisms with variable groove patterns 199

Figure 8.1
Cut patterns for bending tubes. (A) 3D model of fishbone-like design 1. (B) 3D model of
crescent-like design 2.

Table 8.1: Nitinol mechanical properties.
Young’s modulus Austenite B83 GPa
Martensite B28 41 GPa
Yield strength Austenite 195 695 MPa
Martensite 70 140 MPa
Ultimate tensile strength Fully annealed 895 MPa
Work hardened 1900 MPa
Poisson’s ratio 0.33

8.3.2.2 Simulation result using maximum yield strength
For our first group of simulation, we used the following properties. For this group, the yield
8
2
strength property was at its maximum of 1.43 10 N/m . Force of 2, 4, 5, 6, 8, and 10 N are
being simulated. We present the results of the minimum (2 N) and maximum (10 N) in the
chapter. The material properties used for the first group of the simulation are shown in Table 8.2.