Abstract
In this paper, we have reported that design and development of a heat engine with Shape Memory Alloy actuator (SMA actuator) as a proof of concept prototype of a propulsion device for an in-liquid micro robot. There are two problems to develop micro robots with 1mm^3. Those are a sticky problem and an energy source problem. To investigate solutions of those problems, we look at the natural world and found out microbes are living in liquid. They harvest energy by eating foods and solar energy and move freely in liquid; they have already solved these two main problem. That is our motivation to research and develop micro robot which moves in liquid. In this report, we have proposed the mechanical model with 3 gears, 2 pulleys and the coil-shaped SMA and analyze in a steady state to formulate the output torque and generated force.
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