Miniature Robot with Actuators Based on CU-AL-NI Shape Memory Single Crystals

Abstract

We report on further progress in design of miniature robots based on shape memory actuators. The distinguishing feature of the proposed design is the use of actuators based on single crystal shape memory alloy. Such actuators demonstrate record parameters for robotic applications due to anisotropy and low density of lattice defects. In contrast to actuators based on polycrystalline Ti-Ni alloy, Cu-Al-Ni single crystals exhibit a complete recovery of shape memory strain during cyclic operation and a wide operating temperature range. We developed a mathematical model of a linear actuator with a flexural force element based on Cu-Al-Ni shape memory crystals and present a design of robot using these actuators for object manipulation.