Study on a Hinge Shape for Outer Frame Micromotion Systems

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First, an outer frame module for micro robots is proposed and developed. The outer frame module has a feature with both structure body transmitted force and torque and actuated control system. This module composed of two links (L1 and L2) and one hinge is made by small injection molding machine. This hinge is called a large-deflective hinge which has large angular displacement about ±45 deg. Of more than elastic region angles. As actuators at the hinge part, the relationship between current and strain of two kinds of SMA, that is, SMA coils and SMA wire is investigated. The two SMA coils were selected as actuators because of its large strain effects. In the theory, the fixed positions of two SMA coils at the hinge part investigated and determined after analyzing the relative angular displacement between L1 a〓 L2 and the pressure angle at the hinge part. In the experiments, the relative angular displacement between L1 and L2 has an angle of more than 40 degrees. In the results, the relation between the input currents of SMA coil and the angular displacement at the hinges w〓 made clear. Moreover, we have proposed a micro dilatation manipulator made by the shape memory polymer(SMP). The SMP can be deformed at more than class transition temperature. Utilizing the SMP characteristics, a tube-shaped micro dilatation manipulator of a 1-mm inside diameter and a 100-mm length are developed. The tube with the heater part was made, and the no good points of the heater part is revealed. Then, a new tube manufacturing method to obtain the constant thickness tube (Thickness: 250±25μn), under the manufacturing conditions that the polymer viscosity is 470 Pa・s and the pulling up speed of the tube is less than 0.08 mm/s. was proposed and was made clear.