A rotary actuator using shape memory alloy for a robot -analysis of the response with load

Tanaka, Yusuke; Yamada, Ayaka

doi:10.1109/iros.1991.174655

Cited by 25 publications

(20 citation statements)

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“…A microflow valve and a microclamp were designed to demonstrate the application potential of the actuator. Since then, several studies on SMA actuator–based rotary motors were published (Kuribayashi, 1997, 2003; Lan et al, 2009; Nespoli et al, 2010a; Reynaerts and Brussel, 1998; Song, 2007; Tanaka and Yamada, 1991; Yamano et al, 2010; Yuan et al, 2018; Zhang and Yan, 2012).…”

Section: Introductionmentioning

confidence: 99%

“…A microflow valve and a microclamp were designed to demonstrate the application potential of the actuator. Since then, several studies on SMA actuator-based rotary motors were published (Kuribayashi, 1997(Kuribayashi, , 2003Lan et al, 2009;Nespoli et al, 2010a;Reynaerts and Brussel, 1998;Song, 2007;Tanaka and Yamada, 1991;Yamano et al, 2010;Yuan et al, 2018;Zhang and Yan, 2012). Sharma et al (2008aSharma et al ( , 2008bSharma et al ( , 2008c) constructed a continuous and bidirectional rotating motor where three SMA wires are connected to an eccentric axis producing motion through the alternate activation of these wires.…”

Section: Introductionmentioning

confidence: 99%

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A compact rotary motor actuated by shape memory alloy mini springs

Sobrinho

Cunha

Emiliavaca

et al. 2020

Journal of Intelligent Material Systems and Structures

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Shape memory alloys have recently gained attention for applications in motor driving components. The most expressive advantage of shape memory alloy components in that type of application is the high torque to motor weight ratio. Considering the importance of these studies, this article presents the design, manufacture, and theoretical and experimental analyses of a rotary motor driven by Ni–Ti shape memory alloy mini springs. The adopted motion mechanism allows the motor to run in continuous and bidirectional rotation mode, where speed and torque are determined by a drive sequence. A simplified analytical model was implemented, considering the thermomechanical characteristics of the shape memory alloy springs. Experimental tests with and without electrical drives were performed using properly designed electronic measurement instrumentation. The principal scientific contribution of this work is the demonstration of the motor’s functionality and torque generation. An energy density index of 1.41 × 10−3 Nmm/mm3 was attained, which is higher to those of other similarly constructed motors in the literature.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A compact rotary motor actuated by shape memory alloy mini springs

Sobrinho

Cunha

Emiliavaca

et al. 2020

Journal of Intelligent Material Systems and Structures

View full text Add to dashboard Cite

show abstract

“…Tanaka and Yamada developed a box-type rotary actuator for robot application [13]. Based on antagonistically placed two SMA wires with pulleys, a central transmission shaft is bidirectionally rotated.…”

Section: Introductionmentioning

confidence: 99%

A Rotary Actuator Using Shape Memory Alloy (SMA) Wires

2014

IEEE/ASME Trans. Mechatron.

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This paper presents the conceptual design, operating principle, simplified geometric model-based parametric analysis, experimental driving characterization, and working performance verification of a rotary actuator using shape memory alloy (SMA) wires. To achieve the research goal for developing a bidirectional SMA rotary actuator with high-torque capability, the actuator is realized with a rotational driving mechanism devised on the basis of the operating principle of wobble stepping motors. In the proposed actuator, this driving mechanism consisting of an involute gear set and crankshafts suitably and effectively functions to convert expansion and contraction of the SMA wires to high-torque rotational motion. In designing the actuator, the analysis result on parametric effect is utilized, and driving characterization and working performance verification are experimentally carried out with a fabricated functional prototype. With the experimental results, differentiating characteristics related to the operating principle of the proposed actuator and the thermomechanical behavior of SMA elements are investigated and discussed.Index Terms-Rotary actuator, rotational driving mechanism, shape memory alloy (SMA), stepping motor, wobble motor.

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“…Some researchers have proposed static cooling methods, in which the SMA wires are continually cooled by means of an air stream [17]. In a similar way, Furuya and Shimada [8] used a cooling system based on water immersion.…”

Section: Introductionmentioning

confidence: 99%