著者

中里 裕一 菊地 健一 菊池 直人 有賀 幸則

出版者

一般社団法人日本時計学会

雑誌

マイクロメカトロニクス (ISSN:13438565)

巻号頁・発行日

vol.45, no.4, pp.64-71, 2001-12-10

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In designing the self-organization robot, we show the policy which solves the problems by miniaturizing the self-organization robot. And by miniaturizing the self-organization robot, it is possible that the robot number per unit product and composition degree of freedom increase. Therefore in this paper, transfer method for enabling the transfer between robots only in the deformation mechanism of the robot is proposed without using wheels and crawlers, transfer legs, etc. In addition, shape memory alloy actuator viewed as one of the microactuator with hope was adopted to the deformation mechanism of the robot. The robot makes shape change from the triangle to hexagonal by the shape memory alloy actuator. And, the robot was manufactured actually, and usefulness such as structure and mechanism was examined and was examined experimentally.