形状記憶効果によるマイクロマニピュレータ

概要

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This paper describes two different prototype micro manipulators which operate on the basis of the Shape Memory Effect (SME). One manipulator called "Skeleton-muscle type" is composed of aluminum pipe skeletons, bias springs and thin wire actuators of Ti-Ni shape memory alloy (50-50 at%) which contract and relux like a muscle and has 5 degrees of freedom, of which structure is suitable for a large size manipulator. The other called "Soft-body type" has simple soft and small body 20 mm in its length, made of Ti-Ni wire and silicone rubber coat for a bias spring, being capable of microminiturizing, which has 2 degrees of freedom. These manipulators are drived by pulse width electric heating of Ti-Ni alloy and program controlled using a microcomputer system. It was found in the performance tests that the "Skeleton-muscle type" performs 1 reciprocating arm motion in 3. 2 seconds and the "Soft-body type"in 17 seconds under normal condition. Both the voltage (concerning current) and duty ratio of the heating pulse increase with increasing the manipulated force, speed and variable, however they decrease as the load is increased. The Skeleton-muscle type repeats more than 104 stable movements at a temperature within Af point of Ti-Ni alloy. Key words : shape memory effect, manipulator, Ti-Ni alloy actuator, pulse heating, performance test, repeated motion, Ar point.
公益社団法人精密工学会の論文
1984-02-05