Embedded Actuator Prototype

Notes

  • Concept: Page 1,Page 2, Page 3
  • Process Outline

    • What?

  • A device activated by embedded actuators.


    • Why?
  • New fabrication technologies will allow more 'natural' components with complex 3D shapes, simplicity of function and simplicity of assembly: fasteners and extra parts can be replaced with integrated structures.


    • Issues
  • Support mechanism for chosen actuator (cooling channels for SMA wires, gears or shaft connectors for rotary motors).
  • How to embed the actuator without damaging it (temperature, wetting) or restricting it's movement (plastic in small bearings, encased SMA wires).


    • Goals
  • Log of design and manufacturing process: A How-to Guide. Observations on embedding components that: 1)Require power or input; 2)Move and 3)Apply force or torque to another part of the mechanism
  • Evaluate robustness (resistance to damage) of actuator mechanism


    • Prototype
  • Design Parameters: 1)Simple and Easy to manufacture; 2)Maintains focus on embedded actuators without overlapping into sensors and linkage areas of research; 3)Application relevant to robotics
  • Actuator: SMA wires were picked because of: 1)Embeddability; 2)Resistance to water/fluids.
  • Mechanism Proposed: