2A2-K12 動力義手を指向したコイル形状記憶合金アクチュエータの開発(アクチュエータの機構と制御)

抄録

The purpose of my work is to develop an actuator using a coiled shape memory alloy (SMA) for an artificial arm. We manufactured the SMA actuator for drive of the finger. The SMA actuator consist of a coiled SMA wire which is a diameter of 0.7 mm and an aluminum case which is a height of 10mm, a width of 9mm and a length of 153mm. Two SMA actuators are used to move one finger. The SMA actuator for bend motion is connected to the upper surface of the fingertip, and the SMA actuator for extension motion is connected to the undersurface of the fingertip. The prototype model has the maximum force of 6.6N. This paper describes the design and experimental results of the developed actuator.