クリック鞍形板ばねを用いた液中はいずり型微小走行機械

概要

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This paper deals with a microrobot actuated by the click behavior of a spring strip with SMA wire. If the center of the spring strip is fixed points will be deflected to a large degree by a small change in the applied force. These points are suitable for using at an output point to obtain large displacement magnification at a critical click point. The mechanism is available for displacement magnification and tangential displacement was magnified by a factor of 1.67 at the leg point and a factor of 5.20 at the tiptoe. The mechanism for the microrobot is expected to have many uniqule applications in the field of movement and feeding. The microrobot consists of the click buckling spring strip, a body, leg and tiptoe. Because tiptoe has nonsymmetry friction, the microrobot can move by creeping motion. A developed microrobot could creep in the air and underwater. The drive period of microrobot became short by cooling effect of water. The ratio of the drive period underwater to the drive period in the air is 1/5.82. The stroke of the tiptoe was 1.82mm at 2.0A and the mean crawl speed was 2.07 mm/s at 2.6A underwater.
1999-05-05