GB2617951A - Continuous drive SMA motor - Google Patents

Continuous drive SMA motor Download PDF

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Publication number
GB2617951A
GB2617951A GB2310525.7A GB202310525A GB2617951A GB 2617951 A GB2617951 A GB 2617951A GB 202310525 A GB202310525 A GB 202310525A GB 2617951 A GB2617951 A GB 2617951A
Authority
GB
United Kingdom
Prior art keywords
component
sma
actuator assembly
actuator
wires
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
GB2310525.7A
Inventor
Carr Joshua
Howarth James
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cambridge Mechatronics Ltd
Original Assignee
Cambridge Mechatronics Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cambridge Mechatronics Ltd filed Critical Cambridge Mechatronics Ltd
Publication of GB2617951A publication Critical patent/GB2617951A/en
Pending legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F03G7/063—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the mechanic interaction
    • F03G7/0633—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the mechanic interaction performing a rotary movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F03G7/061—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the actuating element
    • F03G7/0614—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the actuating element using shape memory elements
    • F03G7/06143—Wires
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F03G7/063—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the mechanic interaction
    • F03G7/0634—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the mechanic interaction using cam gearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F03G7/064—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by its use
    • F03G7/0641—Motors; Energy harvesting or waste energy recovery

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Stepping Motors (AREA)
  • Manipulator (AREA)
  • Lens Barrels (AREA)

Abstract

Continuous drive motor driven by shape memory alloy (SMA) actuator wires. The SMA actuator wires rotate or control the position of a drive spindle, which in turn causes a rotor or other component of a motor to rotate. Fine control of the velocity of the rotation of the rotor/motor, and a continuous drive of the rotor/motor is enabled.

Claims (34)

1. An actuator assembly comprising: a first component; a second component rotatable relative to the first component; a third component coupled to the second component at a position away from a central axis of rotation of the second component; and at least two shape memory alloy (SMA) actuator wires, each coupled at a first end to the first component and arranged to apply, upon contraction, a force to the third component, thereby driving rotation of the second component.
2. The actuator assembly as claimed in claim 1 wherein the third component is a drive spindle rotatable relative to the second component.
3. The actuator assembly as claimed in claim 1 or 2 wherein the third component is a drive spindle and the at least two SMA actuator wires are each directly coupled to the drive spindle.
4. The actuator assembly as claimed in claim 3 wherein a second end of each SMA actuator wire is coupled to the drive spindle.
5. The actuator assembly as claimed in claim 4 wherein the assembly comprises three SMA actuator wires, the first end of each SMA actuator wire being spaced from the other two SMA actuator wires.
6. The actuator assembly as claimed in claim 4 wherein the assembly comprises two SMA actuator wires and further comprises a spring having a first end coupled to the first component and a second end coupled to one of the drive spindle or the second component, wherein the first end of the two SMA actuator wires and spring are spaced from each other.
7. The actuator assembly as claimed in claim 3 wherein a second end of each SMA actuator wire is coupled to the first component and wherein each SMA actuator wire is coupled at a point along its length to the drive spindle.
8. The actuator assembly as claimed in claim 7 wherein first end of each SMA actuator wire is equidistantly-spaced from each other, and wherein the second end of each SMA actuator wire is equidistantly-spaced from each other.
9. The actuator assembly as claimed in claim 7 or 8 wherein each SMA actuator wire is slidably coupled at a point along its length to the drive spindle.
10. The actuator assembly as claimed in any of claims 3 to 9 wherein the at least two SMA actuator wires have electrical connections that allow each SMA actuator wire to receive an independent drive signal.
11. The actuator assembly as claimed in claim 10 wherein the drive spindle is connected to an electrical ground.
12. The actuator assembly as claimed in claim 11 further comprising: at least one electric brush attached to the second component and electrically connected to the electrical ground.
13. The actuator assembly as claimed in claim 10 wherein the at least two SMA actuator wires are connected to an electrical ground at the first component.
14. The actuator assembly as claimed in any of claims 3 to 6 wherein the assembly comprises three SMA actuator wires connected together using a star connection or a three-phase connection system.
15. The actuator assembly as claimed in claim 6 wherein the spring is electrically connected to an electrical ground.
16. The actuator assembly as claimed in claim 1 wherein the third component is a first magnet and the at least two SMA actuator wires are each directly coupled to the first magnet, and wherein the actuator assembly further comprises: a second magnet provided on the second component at a position away from a central axis of rotation of the second component, wherein the third component is magnetically coupled to the second component; wherein movement of the first magnet drives rotation of the second component.
17. The actuator assembly as claimed in claim 1 or 2 further comprising a fourth component moveable relative to the first component, wherein the at least two SMA actuator wires are each coupled to the fourth component, and wherein the third component is coupled to the fourth component and to the second component.
18. The actuator assembly as claimed in claim 17 wherein the at least two SMA actuator wires are each coupled at a second end to the fourth component.
19. The actuator assembly as claimed in claim 17 or 18 further comprising: a support structure comprising the first component; wherein the fourth component is supported on the support structure in a manner allowing movement of the fourth component relative to the support structure in two orthogonal directions perpendicular to a notional primary axis extending through the fourth component; and wherein the at least two SMA actuator wires are arranged to, upon contraction, move the fourth component and thereby drive rotation of the second component.
20. The actuator assembly as claimed in claim 19 wherein the third component is part of the fourth component, and extends through a hole in the second component located at a position away from a central axis of rotation of the second component.
21. The actuator assembly as claimed in claim 17 or 18 wherein the third component extends through a slot in the fourth component, and the actuator assembly further comprises: a drive cylinder that is coupled to the third component such that a central axis of rotation of the drive cylinder is at a position away from a central axis of the third component; a cam coupled to the third component; and resilient components arranged to apply a return force on the cam before the third component rotates into a zero torque position.
22. The actuator assembly as claimed in claim 17, 18 or 19 further comprising: a first magnet provided on the third component; and a second magnet provided on the fourth component at a position away from a central axis of rotation of the fourth component, wherein movement of the fourth component moves the second magnet relative to the first magnet and drives rotation of the third component.
23. The actuator assembly as claimed in any preceding claim further comprising: control circuitry electrically connected to the SMA actuator wires and arranged to: measure a resistance of each SMA actuator wire; and supply drive signals to each SMA actuator wire.
24. The actuator assembly as claimed in any preceding claim further comprising: a bearing to constrain motion of the second component to rotation.
25. An actuator assembly comprising: a support structure; a rotating part that is rotatable relative to the support structure about a rotation axis, the rotating part comprising an eccentric portion; a movable component that is movable relative to the support structure along at least one movement axis that is orthogonal to the rotation axis; and at least two SMA wires arranged to move the movable component relative to the support structure along the at least one movement axis, to thereby drive movement of the eccentric portion and continuous rotation of the rotating part relative to the support structure.
26. The actuator assembly of claim 25, wherein the movable component is movable relative to the support structure only along the movement axis.
27. The actuator assembly of claim 25, wherein the movable component is movable relative to the support structure in a plane orthogonal to the rotation axis, wherein the at least two SMA wires are arranged to move the movable component in the plane.
28. The actuator assembly of claim 27, wherein the at least two SMA wires comprise a total of four SMA wires in an arrangement wherein none of the forces applied by the SMA wires are collinear, and wherein the SMA wires are capable of being selectively driven to move the movable part relative to the support structure to any position within a plane orthogonal to the rotation axis without rotating the movable part.
29. The actuator assembly of claim 28, wherein two of the SMA wires are arranged to apply a torque to the movable part in said plane in a first sense around the rotation axis and the other two SMA wires are arranged to apply a torque to the movable part in said plane in a second, opposite sense around the rotation axis.
30. The actuator assembly of claim 28 or 29, wherein the four SMA actuator wires are arranged in a loop at different angular positions around the rotation axis, successive SMA wires around the rotation axis being connected to apply a force to the movable element in alternate senses around the rotation axis.
31. The actuator assembly of any one of claims 25 to 27, wherein the at least two SMA wires are coupled at both ends to one of the support structure and movable component and bend around the other of the support structure and movable component, thereby forming two lengths that are angled relative to one another.
32. The actuator assembly of any one of claims 25 to 27, comprising an amplifying mechanism that is configured to amplify the stroke of the SMA wires into movement of the movable component for driving rotation of the rotating part.
33. The actuator assembly of claim 31, wherein the movable component comprises a lever arm or a flexure arm for amplifying the stroke of the SMA wires.
34. The actuator assembly of any one of claims 25 to 27 and 31 to 33, wherein the rotating part comprising a second eccentric portion, and further comprising a second movable part that is movable relative to the support structure along at least one movement axis that is orthogonal to the rotation axis and at least two SMA wires arranged to move the second movable component relative to the support structure along the movement axis, to thereby drive movement of the second eccentric portion and continuous rotation of the rotating part relative to the support structure, wherein SMA wires are configured alternately to move the movable part and the second movable part.
GB2310525.7A 2021-01-11 2022-01-11 Continuous drive SMA motor Pending GB2617951A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB2100299.3A GB202100299D0 (en) 2021-01-11 2021-01-11 Continuous drive SMA motor
PCT/GB2022/050056 WO2022148980A1 (en) 2021-01-11 2022-01-11 Continuous drive sma motor

Publications (1)

Publication Number Publication Date
GB2617951A true GB2617951A (en) 2023-10-25

Family

ID=74667744

Family Applications (2)

Application Number Title Priority Date Filing Date
GBGB2100299.3A Ceased GB202100299D0 (en) 2021-01-11 2021-01-11 Continuous drive SMA motor
GB2310525.7A Pending GB2617951A (en) 2021-01-11 2022-01-11 Continuous drive SMA motor

Family Applications Before (1)

Application Number Title Priority Date Filing Date
GBGB2100299.3A Ceased GB202100299D0 (en) 2021-01-11 2021-01-11 Continuous drive SMA motor

Country Status (3)

Country Link
CN (1) CN116710650A (en)
GB (2) GB202100299D0 (en)
WO (1) WO2022148980A1 (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4683721A (en) * 1985-09-12 1987-08-04 Korea Advanced Institute Of Science & Technology Twin-crank type heat engine
US5279123A (en) * 1992-06-04 1994-01-18 Iowa State University Research Foundation, Inc. Apparatus for recovery and use of waste thermal energy

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6289451B2 (en) 2012-05-25 2018-03-07 ケンブリッジ メカトロニクス リミテッド Shape memory alloy actuator
GB201221306D0 (en) 2012-11-27 2013-01-09 Cambridge Mechatronics Ltd Suspension system for a camera lens element

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4683721A (en) * 1985-09-12 1987-08-04 Korea Advanced Institute Of Science & Technology Twin-crank type heat engine
US5279123A (en) * 1992-06-04 1994-01-18 Iowa State University Research Foundation, Inc. Apparatus for recovery and use of waste thermal energy

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
KATSUTOSHI KURIBAYASHI ED - INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, "A NEW SERVO MOTOR USING SHAPE MEMORY ALLOY", PROCEEDINGS OF THE ANNUAL CONFERENCE OF THE INDUSTRIAL ELECTRONICS SOCIETY. (IECON). PHILADELPHIA, NOV. 6 - 10, 1989; [PROCEEDINGS OF THE ANNUAL CONFERENCE OF THE INDUSTRIAL *

Also Published As

Publication number Publication date
WO2022148980A1 (en) 2022-07-14
GB202100299D0 (en) 2021-02-24
CN116710650A (en) 2023-09-05

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