Millimeter size joint actuator using shape memory alloy

Author

Kuribayashi, Katsutoshi

Author_Institution

Dept. of Mech. Eng., Osaka Univ., Japan

fYear

1989

fDate

20-22 Feb 1989

Firstpage

139

Lastpage

144

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

Keywords

actuators; nonelectric final control devices; robots; shape memory effects; 0.5 mm; 3 mm; design method; dynamics; joint actuator; millimeter-size actuator; push-pull type; rotary joint; shape memory alloy; small robot; theoretical model; Ceramics; Design engineering; Educational institutions; Mechanical engineering; Pneumatic actuators; Robotic assembly; Robots; Rubber; Shape memory alloys; Wire;

fLanguage

English

Publisher

ieee

Conference_Titel

Micro Electro Mechanical Systems, 1989, Proceedings, An Investigation of Micro Structures, Sensors, Actuators, Machines and Robots. IEEE

Conference_Location

Salt Lake City, UT

Type

conf

DOI

10.1109/MEMSYS.1989.77978

Filename

77978