形状記憶合金アクチュエータの開発(性能評価とその新構成法の導入)

概要

論文の詳細を見る
The servo-actuator using shape memory alloy, or SMA actuator, has the potentioal capability to be developed into novel Robot actuator. The paper discusses the fundamental problems and their solves to realise practical SMA actuator. First of all, it is pointed out that the SMA actuator can be an actuator with high output weight ratio, because the shape memory alloy is based on martensitic transformation of the material itself. To the contrary, it is shown that the SMA actuator is limited in its energy efficiency and response velocity because it is regarded as the low temperature difference thermal engine.<BR>Some of these disadvantages is then shown to be eliminated by the introduction of a specific design method of SMA actuator. It is called c-array, which arrays the SMA wire in parallel and connects serially as a electric circuit. The a-array increases SMA's surface area and the electric resistance. Thus it enables the following characteristics, i) comparatively fast response time, ii) minimization of the diameter of lead wires which supply electricity from power unit, iii) feasibility to use commercially available high voltage low current power unit, iv) possibility of the positive use of SMA's electric resistance change as a feedback signal of servo control. Finally these considerations are verified by the experiment of the SMA actuator model.
一般社団法人日本ロボット学会の論文