Micro/miniature shape memory alloy actuator

Ikuta, Koji

doi:10.1109/robot.1990.126323

Cited by 177 publications

(105 citation statements)

References 2 publications

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“…T w o t y p e s o f unconventional mobile robots (snake robot and net robot) are presented in [8,9]. It is possible to build micro robots made in MEMS technology, actuated by SMAs [10].…”

Section: Applicationsmentioning

confidence: 99%

Computer-Based Measurement System for Complex Investigation of Shape Memory Alloy Actuators Behavior

Kciuk¹,

Kłapyta²

2012

Applied Measurement Systems

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“…T w o t y p e s o f unconventional mobile robots (snake robot and net robot) are presented in [8,9]. It is possible to build micro robots made in MEMS technology, actuated by SMAs [10].…”

Section: Applicationsmentioning

confidence: 99%

Computer-Based Measurement System for Complex Investigation of Shape Memory Alloy Actuators Behavior

Kciuk¹,

Kłapyta²

2012

Applied Measurement Systems

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“…But the use of Shape Memory Alloy actuator can reduce the size, weight and complexity of the systems. Its power density is remarkable high such as 100 W/kg or more [21]. The conventional actuators produce a significant amount of noise, while the SMA actuator is completely silent.…”

Section: Thermal Efficiency Of Ideal Sma Heat Enginementioning

confidence: 99%

<title>Fuel-powered compact SMA actuator</title>

Rediniotis

Lagoudas

Jun

et al. 2002

Smart Structures and Materials 2002: Industrial and Commercial Applications of Smart Structures Technologies

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This work discusses the numerical analysis, the design and experimental test of the fuel-powered compact SMA actuator along with its capabilities and limitations. Convection heating and cooling using water actuate the SMA element of the actuator. The energy of fuels, having a high energy density, is used as the energy source for the SMA actuator in order to increase power and energy density of the system, and thus in order to obviate the need for electrical power supplies such as batteries. The system is composed of pump, valves, bellows, heater (burner), control unit and a displacement amplification device. The experimental test of the first designed SMA actuator system results in 150 M Pa stress (force: 1560N) with 3 % strain and 0.5 Hz actuation frequency. The actuation frequency is compared with the prediction obtained from numerical analysis. For the first designed fuel-powered SMA actuator system, the results of numerical analysis were utilized in determining design parameters and operating conditions.

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“…Prestrained SMAs like the used NiTinol change their lengths up to 8% when heated above their transformation temperature [2]. Based on this property various micro-technical actuators have been developed [3,4]. In this paper, a novel SMAactuator for a humanoid robot [5] is combined with a biologically inspired reflex based stabilization.…”

Section: Introductionmentioning

confidence: 99%

Biologically Inspired Reflex Based Stabilization Control of a Humanoid Robot with Artificial SMA Muscles

Kratz

Klug

Stelzer

et al. 2006

2006 IEEE International Conference on Robotics and Biomimetics

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-Suddenly occurring collisions or unintentional motions represent a high safety risk in robotics and must be prevented. Especially for humanoid robots, the influence of disturbances that occur unexpectedly during bipedal locomotion are difficult to compensate. A model based online control approach for stabilization of a humanoid robot with many degrees of freedom may require too much time for computing and implementing an adequate compensating motion. In addition, such a control approach usually requires accurate sensor information about the type and magnitude of the disturbance.The goal of the present paper is a reflex based online stabilization control of a humanoid robot actuator based on artificial SMA muscles. The design of a humanoid robot actuated with SMA muscles allows a lightweight robot design and simplifies the direct implementation of reflexes. The reflex that is integrated into the robot depends on an evaluation of the pressure distribution of the feet. An instable position of the center of mass of the robot leads to a known specific pressure disturbance that should be avoided.The experiments show that the implementation of a reflex for the actuators in the calf leads to a stabilization of the entire robot. Additional reflexes are required when the strength or speed of disturbances are increased, such as in the upper leg or arms.Index Terms -biologically inspired stabilization reflex, SMA wire bundle actuator, artificial muscle, humanoid robot

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Micro/miniature shape memory alloy actuator

Cited by 177 publications

References 2 publications

Computer-Based Measurement System for Complex Investigation of Shape Memory Alloy Actuators Behavior

Computer-Based Measurement System for Complex Investigation of Shape Memory Alloy Actuators Behavior

<title>Fuel-powered compact SMA actuator</title>

Biologically Inspired Reflex Based Stabilization Control of a Humanoid Robot with Artificial SMA Muscles

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