毫米尺寸的关节驱动器采用形状记忆合金

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

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引用次数: 23

摘要

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。

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Millimeter size joint actuator using shape memory alloy

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.<>

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来源期刊

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

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