{"title":"Millimeter-sized joint actuator using a shape memory alloy","authors":"Katsutoshi Kuribayashi","doi":"10.1016/0250-6874(89)87102-1","DOIUrl":null,"url":null,"abstract":"<div><p>A millimeter-sized actuator for driving a rotary joint for a small robot is designed and fabricated using a shape memory alloy (<img>SMA); it has the advantages of a strong force/weight ratio and can be extended down to micron size. The actuator is of push-pull type composed of two 0.05 mm × 0.5 mm × 3 mm SMA sheets. First, a theoretical model of the dynamics of the SMA actuator is derived based on an experimental analysis of the dynamics of large SMA sheets. Using this model, the design method of the above type of SMA actuator is established. Finally, the theoretical torque versus angular displacement of a millimeter-sized rotary joint driven by the above millimeter-sized SMA actuator is obtained, with a maximum torque of 4 gf mm.</p></div>","PeriodicalId":101159,"journal":{"name":"Sensors and Actuators","volume":"20 1","pages":"Pages 57-64"},"PeriodicalIF":0.0000,"publicationDate":"1989-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1016/0250-6874(89)87102-1","citationCount":"59","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Sensors and Actuators","FirstCategoryId":"1085","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/0250687489871021","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 59
Abstract
A millimeter-sized actuator for driving a rotary joint for a small robot is designed and fabricated using a shape memory alloy (SMA); it has the advantages of a strong force/weight ratio and can be extended down to micron size. The actuator is of push-pull type composed of two 0.05 mm × 0.5 mm × 3 mm SMA sheets. First, a theoretical model of the dynamics of the SMA actuator is derived based on an experimental analysis of the dynamics of large SMA sheets. Using this model, the design method of the above type of SMA actuator is established. Finally, the theoretical torque versus angular displacement of a millimeter-sized rotary joint driven by the above millimeter-sized SMA actuator is obtained, with a maximum torque of 4 gf mm.
采用形状记忆合金(SMA)设计并制造了用于驱动小型机器人旋转关节的毫米级致动器;它具有强大的力/重量比的优点，可以扩展到微米尺寸。驱动器为推挽式，由两块0.05 mm × 0.5 mm × 3mm的SMA片材组成。首先，在对大型SMA片材动力学进行实验分析的基础上，推导了SMA致动器动力学的理论模型。利用该模型，建立了上述类型SMA致动器的设计方法。最后，得到了由上述毫米尺寸的SMA致动器驱动的毫米尺寸旋转关节的理论扭矩与角位移的关系，其中最大扭矩为4gf mm。
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