Optimal Design of a Shape Memory Alloy Actuator for Microgrippers
In this paper, a modular microactuator based on shape memory alloy (SMA) actuation to drive the joints of a microgripper is described. Its design is a combination of two SMA actuators installed on the links of a special mechanism: one of them drives the rotation of the joint and the other one produces the necessary force to manipulate objects. An accurate model of the thermo-mechanical behavior of SMA fibers is proposed for the design of SMA actuators. The main performances of this microactuator are presented and discussed.
KeywordsShape Memory Alloy Martensite Phase Shape Memory Effect Austenite Phase Force Transmission
Unable to display preview. Download preview PDF.
- T. Hayashi, “Special feature of micromechasnism,” in 1st IFToMM Internationnal Micromechanism Symposium Tokyo, pp. 21–24., 1993.Google Scholar
- K. Tanaka, “A thermomechanical sketch of shape memory effect: one domensional tensile behavior,” Res Mechanica, vol. 18, pp. 251–263, 1986.Google Scholar
- K. Ikuta and H. Shimizu, “Two dimensional mathematical model of shape memory alloy and intelligent sma-cad,” IEEE, pp. 87–92, 1993.Google Scholar
- K. Arai, S. Aramaki, and K., Yamagisawa, “Continuous system modeling of shape memory alloy for control analysis,” in 5th International symposium on micro machine and human sciences, pp. 97–99, IEEE, 1994.Google Scholar