The basic idea of a new type of actuator based on a shape memory alloy (SMA) and its application to underwater mobile robots are presented. The actuator consists of a multimode SMA, so that any shape can be produced as the synthesized sum of excited modes. Thus, the actuator shows the characteristics of distributed-parameter-type actuators with a specified number of modes. A flat-belt-type SMA is employed, and its bending characteristics are examined. A method of waveform synthesis is presented. Applying the proposed distributed actuators to the underwater mobile robot, a fish-fin-like mechanism is shown to obtain thrust forces in the water. The shape of the actuator was shown experimentally to be similar to the computed shape. As a result, the distributed actuator shows the possibility of application to distributed-parameter shape control.
Distributed type of actuators by shape memory alloy and its application to underwater mobile robotic mechanism
Verteilte Stellgliedarten durch gemischtes Formengedächtnis und die Anwendung bei selbstfahrenden Unterwasserrobotern
1990
6 Seiten, 4 Quellen
Aufsatz (Konferenz)
Englisch