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.


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    Titel :

    Distributed type of actuators by shape memory alloy and its application to underwater mobile robotic mechanism


    Weitere Titelangaben:

    Verteilte Stellgliedarten durch gemischtes Formengedächtnis und die Anwendung bei selbstfahrenden Unterwasserrobotern


    Beteiligte:
    Fukuda, T. (Autor:in) / Hosokai, H. (Autor:in) / Kikuchi, I. (Autor:in)


    Erscheinungsdatum :

    1990


    Format / Umfang :

    6 Seiten, 4 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch





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