DocumentCode :
2995047
Title :
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
Link To Document :
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