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JRM Vol.7 No.6 pp. 449-457
doi: 10.20965/jrm.1995.p0449
(1995)

Paper:

A millimeter-Sized Robot Using SMA and Its Control

Katsutoshi Kuribayashi and Seiji Shimizu

Faculty of Engineering, Yamaguchi University, 2557 Tokiwadai, Ube, Yamaguchi, 755 Japan

Received:
November 22, 1995
Accepted:
November 30, 1995
Published:
December 20, 1995
Keywords:
Micro-robot, Millimeter-sized arm, SMA actuator, Sensor feedback control, Electric current control
Abstract

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 50μm 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.

Cite this article as:
Katsutoshi Kuribayashi and Seiji Shimizu, “A millimeter-Sized Robot Using SMA and Its Control,” J. Robot. Mechatron., Vol.7, No.6, pp. 449-457, 1995.
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