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Micro-robot Using Reversible SMA Actuator
Yamaguchi University, Dept. of Mechanical Engineering ka Prefecture, 2557 Tokiwadai Ube 755, Japan
Published:February 20, 1991
Keywords:Reversible shape memory alloy, Micro robot, Micro actuator, Thin film of SMA, Micro actuator
Reversible SMA (-RSMA), the so-called two way and all round SMA, is very convenient in fabricating a micronsized SMA actuator, because only one SMA material is needed for an SMA actuator. An active bending frame (-ABF) for a robot using a larger-sized RSMA sheet whose original shape was memorized round, was made and its shapes were analyzed experimentally and theoretically. Based on the theory, a homogeneous transformation matrix for the ABF was derived. A SCARA Type robot using 2 larger sized ABFs was made and was controlled by electrical current. Finally, it is shown that a thin film of reversible TiNi ally for a micron sized robot could be made by a magnetron sputtering method and by heat treatment methods, and that the frequency response of 7μm thick thin film of reversible TiNi alloy is about 5Hz.
Cite this article as:K. Kuribayashi, “Micro-robot Using Reversible SMA Actuator,” J. Robot. Mechatron., Vol.3 No.1, pp. 52-56, 1991.Data files: