A millimeter-Sized Robot Using SMA and Its Control | Zendy

Katsutoshi Kuribayashi | Zendy; Seiji Shimizu | Zendy

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A millimeter-Sized Robot Using SMA and Its Control

Author(s) -

Katsutoshi Kuribayashi,

Seiji Shimizu

Publication year - 1995

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1995.p0449

Subject(s) - sma* , actuator , millimeter , shape memory alloy , materials science , robot , bent molecular geometry , mechanical engineering , acoustics , computer science , engineering , electrical engineering , optics , composite material , physics , artificial intelligence , algorithm

A millimeter-sized robot has been fabricated using shape memory alloy (SMA) actuators, focusing on its advantages including a strong force to weight ratio and extendibility to micro sizes. The Al links for the robot were made by wire-electric discharge machining (W-EDM). A push-pull type SMA actuator has been constructed with a couple of SMA sheets, each 50 μ m thick, which were cut by using a laser beam. They were set on Al links after they had been bent spirally. The dynamics of a larger-size SMA actuator were analyzed theoretically and experimentally. This theory was then applied to estimate the dynamics of the millimeter-sized SMA actuator proposed here. The joint angle was controlled with and without the sensor feedback.

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