| 摘要 |
PURPOSE:To facilitate the fabrication of a spring in a shape memory process and to enhance the shape reproducibility of the spring with the range of spring constant being made wider, by giving a memory of a waveform to a wire-like or plate-like material made of shape memory alloy. CONSTITUTION:A thin wire made of shape memory alloy such as, for example, 55% of Ni-Ti alloy is formed into a waveform spring having predetermined amplitude and pitches and is then subjected to a shape memory process. Then, such a shape memory alloy waveform spring is incorporated in a link device in, for example, a robot arm. That is, a waveform spring 1 is wound around a pin 3 and secured to links 2 while connected to terminals. Meanwhile a bias spring 5 is stretched between the hook parts of the links 2, and the tension of the spring 5 is adjusted so that the shape of the waveform spring 1 is turned into its linear form from its waveform shape. With this arrangement in which the characteristics of a waveform spring and a linear spring are combined together, a desired purpose may be attained. |
