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


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

November 22, 1995
November 30, 1995
December 20, 1995
Micro-robot, Millimeter-sized arm, SMA actuator, Sensor feedback control, Electric current control
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:
K. Kuribayashi and S. 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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