Prepared by: Spencer Jackson Dept. of Electrical and Computer Engineering Utah State University

1. ECE5320 MechatronicsAssignment#01: Literature Survey on Sensors and Actuators Topic: Biowire actuator Prepared by: Spencer Jackson Dept. of Electrical and Computer Engineering Utah State University E: ssjacskon71@gmail.com; T: (435)797-2757; F: (435)797-3054 (ECE Dept.) 3/11/2010

2. Outline • Reference list • To probe further • BioMetal Wire vs. BioMetal Helix • Major applications • Basic working principle illustrated • A typical sample configuration in application (application notes) • Soft Robot • BioWire Micro Servo • Major specifications • Limitations • Availability ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

3. Reference list • Toki Corporation • http://www2.toki.co.jp/biometal/english/contents.php • Crawling and Jumping Soft Robots • http://www.ritsumei.ac.jp/se/~hirai/research/softrobot-e.html#notes • Servo Data Base • http://www.servodatabase.com/servo/toki/biowire • Images Scientific instruments • http://www.imagesco.com/nitinol/biometal-fiber.html ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

4. To explore further • TOKI website: http://www2.toki.co.jp/biometal/english/contents.php • YouTube: http://www.youtube.com/watch?v=JJi2HgqfzJAhttp://www.youtube.com/watch?v=_cyDWKY9Yewhttp://www.youtube.com/view_play_list?p=B636E3A9DADEE295&search_query=biometal+nitinol ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

5. Biometal Fiber vs. Helix http://www.imagesco.com/nitinol/images/BMF3pic.jpg http://www.imagesco.com/nitinol/images/BMX4pic.jpg ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

6. Biometal Fiber vs. Helix • Biometal Fiber (BMF) has 4% length contraction, but high force through entire motion (enough to lift up to 150g) • Biometal Helix (BMX) can stretch to double it’s contracted length but lower force (up to 40g) • BMX is actually a coiled BMF ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

7. Major applications • Traditional Servo Motor Substitute • Robotics • Model aviation • Solenoid Substitute (Linear Motion) • Switches, relays, brakes, locks, valves etc • Applications where size matters ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

8. Basic Working Principle http://www.imagesco.com/nitinol/images/BMF1pic.jpg ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

9. Basic Working Principle http://www.imagesco.com/nitinol/images/BMX1pic.jpg ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

10. Basic Working Principle • Differs from shape memory alloys (SMA) because it does not return to shape; it stretches and contracts (actuates) like a muscle • Controlled through PWM, Temperature control, or Current regulation • Contracts when reaches 70ºC • Returns to length based when temperature cools (i.e current removed) • Contracts quickly, stretches slowly ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

11. Application Notes • Need connectors to mount (*incl. w purchase) • Smaller diameter is more pliable for smoother operation • Contracting force varies based on diameter • Strands are often placed in parallel for more force ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

12. Soft Robot http://www.ritsumei.ac.jp/se/~hirai/research/softrobot-e.html#notes Climbs hills or jumps powered by BMX ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

13. BioWire Micro Servo Tiny servo for ultralight applications http://www2.toki.co.jp/biometal/products/rc-1/SmartServoRC-1.jpg ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

14. BioWire Micro Servo http://www2.toki.co.jp/biometal/products/rc-1/smartservoRC-1bil2.gif ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

15. BioWire Micro Servo • Under 1 gram • Approximately 40x9x3mm • Torque of .015kg-cm • $35.99 • Powered by BMF ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

16. Comparable Micro Servo • 8 grams • Approximately 23x12x24mm • Torque of 131kg-cm • $13.99 • Much larger, though cheaper and more powerful http://www.servocity.com/assets/images/HS-55.jpg ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

17. Major Specifications Fiber (BMF) http://www2.toki.co.jp/biometal/download/downloadfiles/BMF_eng.pdf Helix (BMX) http://www2.toki.co.jp/biometal/download/downloadfiles/BMX_eng.pdf ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

18. Limitations • Motion is non-linear based on heating and cooling equation • Operation fails at ~70ºC/158ºF (failure to expand) • Cannot operate at high frequency without forced cooling (<3Hz) • Only for small applications ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

19. Availability • Available online in many different diameters • Fiber: .05, .075, .1, and .15 mm • Helix: .2, .32, .40, and .62 mm • Can buy BMX or BMF 150 from: http://www.imagesco.com/nitinol/biometal-fiber.html • $36.95 • Or from Toki Corporation: http://www2.toki.co.jp/biometal/english/contact-eng/eng_form.php ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

20. Package Includes • BioMetal Fiber • 1 meter fiber • 4 biasing springs • 12 heat resistant pulleys • 40 ‘spectacle’ terminals • 40 eyelet terminals • Instruction manual • BioMetal Helix • 20 millimeter coil • 4 biasing springs • 16 ‘spectacle’ terminals • 16 eyelet terminals • Instruction manual ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

21. Conclusion • Good solution for very small actuators • Still new technology, fairly expensive • Scope of applications is only beginning to be explored ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators