2-D micro rolling car activated by shape memory alloy

• Main Author: Zhang, Yujie.
• Other Authors: Huang Weimin
• Format: Final Year Project
• Language: English
• Published: 2012
• Subjects: DRNTU::Engineering::Mechanical engineering::Mechatronics
• Online Access: http://hdl.handle.net/10356/49925
• Institution: Nanyang Technological University

Shape Memory Alloy (SMA) is a material that can return to its original, cold-forged shape when it is heated above certain temperature. It has been on the forefront of research for the last several decades and been used for various applications such as medical, naval, and robotics. Currently there are linear and rotational actuators made of Shape Memory Alloy available in the market. These actuators are light-weight low-noise alternatives to conventional actuators. In this project, a prototype of micro rolling car is designed and built using commercial SMA actuators. The car can move by means of rolling on a horizontal plane in both x and y directions. The car consists of the inner plate and outer sphere. The inner plate accommodates the actuators and the weight which are responsible for creating torque to rotate the outer sphere. Battery pack and controller circuit are also fixed on the inner plate. A wireless controller is used to control the direction of the car. A microprocessor is used to control the circuit to achieve accurate timing and continuous motion. The inner plate and outer sphere are connected by four ball transfer bearings to ensure smooth rolling in between. The key component is to design a mechanism that allows the car roll in two planes.