Millimeter size joint actuator using shape memory alloy

IEEE Micro Electro Mechanical Systems, , Proceedings, 'An Investigation of Micro Structures, Sensors, Actuators, Machines and Robots' Pub Date : 1989-02-20 DOI:10.1109/MEMSYS.1989.77978

K. Kuribayashi

引用次数: 23

Abstract

A millimeter-size actuator to drive a rotary joint for a small robot was designed and fabricated using shape memory alloy (SMA), which has the merits of large force/weight and extendability to micron size. The actuator is of the push-pull type, composed of two SMA sheets of 0.05 mm*0.5 mm*3 mm. The theoretical model of the dynamics of the SMA actuator was derived based on an experimental analysis of the dynamics of the larger SMA sheets. Using this model, the design method of the SMA actuator was established. Finally, the theoretical torque vs. angular displacement characteristic of a millimeter-size rotary joint driven by the above millimeter-size SMA actuator was obtained, which shows a maximum of 4 gf-mm.<>

查看原文

微信好友朋友圈 QQ好友复制链接

本刊更多论文

毫米尺寸的关节驱动器采用形状记忆合金

采用形状记忆合金(SMA)设计并制造了一种用于驱动小型机器人旋转关节的毫米级驱动器，该驱动器具有受力/重量大、可扩展到微米级的优点。执行机构为推挽式，由两块0.05 mm*0.5 mm* 3mm的SMA片材组成。在对大尺寸SMA片材进行动力学分析的基础上，推导了SMA致动器动力学的理论模型。利用该模型，建立了SMA作动器的设计方法。最后，得到了由上述毫米尺寸SMA驱动器驱动的毫米尺寸旋转关节的理论扭矩-角位移特性，其最大扭矩为4 gf-mm。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文去求助

来源期刊

IEEE Micro Electro Mechanical Systems, , Proceedings, 'An Investigation of Micro Structures, Sensors, Actuators, Machines and Robots'

自引率

0.00%

发文量

期刊最新文献

The world's largest one cubic inch robot Electroquasistatic induction micromotors Selective chemical vapor deposition of tungsten for microdynamic structures Transduction mechanisms and their applications in micromechanical devices A novel technique and structure for the measurement of intrinsic stress and Young's modulus of thin films