Study on a Hinge Shape for Outer Frame Micromotion Systems

首先，一个微型机器人的外框架模块已经被提议和开发。外框架模块具有两个结构的特点，即身体发射力、扭矩和激活控制系统。这个模块由两个链接（L1和L2）和一个铰链由小注射成型机制成。这个铰链被称为一个大的、有一个大的、有大约±45度的角度置换。更多的弹性区域天使。作为在铰链部分的触发者，在SMA的当前和两条直线之间的关系，即SMA线圈和SMA电线是调查的。这两个SMA线圈被选定为演员，因为它们的较大应变效应。在理论中，两个SMA coils在铰链部分中的固定位置在投资和确定之后分析相对角度置换在L1 a = L2和铰链部分中的压力角度。在实验中，L1和L2之间的相对角度置换有超过40度的角度。在结果中，SMA线圈的输入电流和在hinges w =澄清的角度置换之间的关系。Moreover，我们已经提出了一种由形状存储聚合物（SMP）制造的微稀释操纵器。SMP可以在比阶级过渡温度更好的情况下改变。利用SMP字符学，开发了一个1毫米内部直径和100毫米长度的管状微位移操纵器。加热器部分的管子是制造的，加热器部分的没有好的点被揭示了。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，the pulling up speed of the tube is小于0.08 mm/s。它已经准备好了，而且很清楚。

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.