A millimeter-Sized Robot Using SMA and Its Control
1995 ◽
Vol 7
(6)
◽
pp. 449-457
◽
Keyword(s):
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<I>μ</I>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.
2014 ◽
Vol 24
(10)
◽
pp. 3201-3209
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2018 ◽
Vol 5
(2)
◽
pp. 3316-3324
◽
2019 ◽
Vol 577
◽
pp. 012015
◽
2019 ◽
Vol 28
(12)
◽
pp. 7663-7675
◽
2018 ◽
Vol 330
◽
pp. 012070
◽
2020 ◽