Distributed type of actuators by shape memory alloy and its application to underwater mobile robotic mechanism
- 4 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1316-1321 vol.2
- https://doi.org/10.1109/robot.1990.126182
Abstract
The basic idea of a new type of actuator based on a shape memory alloy (SMA) and its application to underwater mobile robots are presented. The actuator consists of a multimode SMA, so that any shape can be produced as the synthesized sum of excited modes. Thus, the actuator shows the characteristics of distributed-parameter-type actuators with a specified number of modes. A flat-belt-type SMA is employed, and its bending characteristics are examined. A method of waveform synthesis is presented. Applying the proposed distributed actuators to the underwater mobile robot, a fish-fin-like mechanism is shown to obtain thrust forces in the water. The shape of the actuator was shown experimentally to be similar to the computed shape. As a result, the distributed actuator shows the possibility of application to distributed-parameter shape control.Keywords
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