Development of Miniature Stewart Platform Using TiNiCu Shape-Memory-Alloy Actuators

A Stewart platform is a parallel manipulator robot that is able to perform three linear movements, lateral, longitudinal, and vertical, and three rotations, pitch, yaw, and roll. This paper reports a 30 mm × 30 mm × 34 mm miniscale Stewart platform using TiNiCu shape-memory-alloy (SMA) actuators. The proposed Stewart platform possesses various advantages, such as large actuation force and high robustness with a simple mechanical structure. This Stewart platform uses four SMA actuators and four bias springs and performs a linearz-axis movement and tilting motions. The SMA actuators are activated by passing a current through the SMA wires using a heating circuit that generates a pulse width modulation (PWM) signal. This signal is varied to control the level of the displacement and tilting angle of the platform. The tilting direction depends on the SMA actuator that is activated, while all four SMA actuators are activated to achieve the linearz-axis movement. Each SMA actuator exerts a maximum force of 0.6 N at PWM duty cycle of 100%. The fabricated miniature Stewart platform yields a full actuation of 12 mm in thez-axis at 55°C, with a maximum tilting angle of 30° in 4 s.