形状記憶合金アクチュエータを用いた跳躍移動型月面探査ロボットの開発

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  • Development of a Jumping Type Lunar Exploration Robot Using Shape Memory Alloy Actuators

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<p>In this paper, we report a small jumping mechanism for a lunar exploration robot using shape memory alloy (SMA) actuators. The jumping mechanism have tension springs and toggle linkage with SMA actuators. SMA actuators used for operating the tension springs. In the jumping experiments, we confirmed that the jumping model hoped to a maximum height of 0.34 meters and travel up to 0.5 meters. This indicates that the jumping mechanism using shape memory alloy actuators is useful as a movement mechanism.</p>

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