The Micro Trolley Based on SMA and its Control System

The structure and control system of a micro trolley imitating an insect is introduced. Its movement mechanism is analyzed. The micro trolley imitates the motion of creature muscle using an SMA (Shape Memory Alloy) actuator. An elastic rubber band is put side by side with the SMA actuator so that the velocity of movement increases to almost twice as fast as without the elastic rubber band. The anti-reverse device attached to each wheel successfully prevents the wheels from turning backwards. This paper also analyzes the experiment results of the trolley. The prototype can be applied to the inspection and maintenance of micro pipes and tubes in such specific fields as nuclear power plants or space shuttles.

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