ロボット用SMAロータリアクチュエータの研究 : 第1報, SMAロータリアクチュエータの開発

概要

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This paper deals with the development of a rotary actuator (RA) for a robot using shape memory alloy (SMA). A SMA actuator can not generate great power and large displacement like a motor, but it can be installed in a robot with minimum change of mechanical structure. The RA with a small rotational angle was developed in consideration of these characteristics. A box-type RA was newly designed for applications to all kinds of robots in this study. The RA is lightweight and compact. The size of the RA box is 64×64×26 mm^3 and the weight of the RA is 160 g. The RA showed good response to ±0.5 degrees with a PID control system for rotational angle control of the RA. This RA unit composed of the RA and a sensor needed for rotational angle control was applied to a biped locomotion robot which was aimed at small angle turn about locomotion. The RA unit was installed in the hip joint of the biped locomotion robot. The RA showed rotation responses in the leg within 1 second. The possibility of using the RA for a robot actuator was shown by experiments.
1992-01-25