| 摘要 |
PURPOSE:To drive a robot with high accuracy and to simplify the setting of a shape memory alloy wire by connecting a nut to said alloy wire via a wire connected with a shift given in the circumferential direction. CONSTITUTION:A robot consists of an arm storing an actuator, a wrist and a hand. The actuator is formed with plural shape memory alloy wires 22 stretched between terminals 20a of a pair of front and back terminal plates 20. These plates 20 are connected to plural stainless wires 26 and then to the wrist and the hand via a straight/revolution converting mechanism 28 set within the arm. Then these wrist and hand are driven. The mechanism 28 contains a nut 34 which has a linear motion by means of a key 32 and a rotary shaft 36 which engages the nut 34. The wire 26 is shifted in the circumferential direction to the wire 22 and connected between the plate 20 and the nut 34. Thus the shaft 36 can be revolved assuredly with no tilt of the nut 34 despite the difference of contraction factor produced between the wire 22. |
