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A mechanical actuator can be constructed by employing a plurality of memory metal actuator elements in parallel to control the amount of actuating force. In order to facilitate direct control by digital control signals provided by a computer or the like, the actuating elements may vary in stiffness

A mechanical actuator can be constructed by employing a plurality of memory metal actuator elements in parallel to control the amount of actuating force. In order to facilitate direct control by digital control signals provided by a computer or the like, the actuating elements may vary in stiffness according to a binary relationship. The cooling or reset time of the actuator elements can be reduced by employing Peltier junction cooling assemblies in the actuator.

대표청구항 ▼

1. A mechanical actuator comprising: a fixed position support element; an output element which is movable with respect to the support element; a plurality of actuator elements formed of memory metal material, each actuator element having a first end coupled to the support element and a second en

1. A mechanical actuator comprising: a fixed position support element; an output element which is movable with respect to the support element; a plurality of actuator elements formed of memory metal material, each actuator element having a first end coupled to the support element and a second end coupled to the output element, wherein when an actuator element is heated above a critical temperature it will rapidly attempt to move to a predetermined hot-formed shape; and control means for selectively heating the actuator elements to control the amount of force exerted against the output element with the forces exerted by the actuator elements being related to each other in a binary fashion. 2. An actuator according to claim 1 wherein the control means comprises means for passing current through each of the actuator element and switching means for controlling current flow through each of the actuator elements. 3. An actuator according to claim 2 wherein the switching means includes a plurality of switches and one for opening and closing the current path for each actuator element, wherein the actuator includes a control device for providing binary control signals directly to the switches. 4. An actuator according to claim 3 wherein the switches are transistor switches. 5. An actuator according to claim 3 wherein the control device is a digital computer. 6. An actuator according to claim 1 further including means for dissipating heat from the actuator elements by means of the Peltier effect. 7. A memory metal mechanical actuator, comprising: a fixed support element; an output element which is movable with respect to the support element; a plurality of memory metal actuator elements connected between the support element and output element in a mechanically parallel configuration, wherein the actuator elements are malleable when they are below a critical temperature and rapidly attempt to move to a predetermined hot-formed shape when heated above the critical temperature thereby to exert a force on the output element, wherein the stiffnesses of the actuator elements and thus the force exerted by them when moving toward their hot-formed shape have a binary relationship; and control means for selectively heating the actuator elements above their critical temperature in response to binary control signals. 8. An actuator as in claim 7 wherein the control means comprises means for passing electric current through the actuator elements and a plurality of switches for selecting which actuator elements current is to be applied to, wherein the switches are controlled by the binary control signals. 9. An actuator as in claim 8 including a thermostat coupled to each actuator element to limit the maximum temperature of the actuator elements. 10. An actuator as in claim 7 wherein the actuator elements are formed of Nitinol. 11. An actuator as in claim 7 wherein the actuator is a linear actuator. 12. An actuator as in claim 11 wherein the actuator elements have a strip configuration. 13. An actuator as in claim 11 wherein the actuator elements have a helical configuration. 14. An actuator as in claim 7 wherein the actuator is a rotary actuator in which the output element is pivotally mounted with respect to the support element and the actuator elements have a substantially ring-shaped configuration. 15. An actuator as in claim 8 including cooling means for dissipating heat from the actuator elements, said cooling means operating by means of the Peltier effect. 16. A mechanical actuator comprising: an actuator element formed of a memory metal material, said actuator element being malleable below a critical temperature and rapidly assuming a predetermined hot-formed shape when heated above the critical temperature; means for heating the actuator element to the critical temperature to cause it to assume its hot-formed shape; and cooling means for dissipating heat from the actuator element to cause its temperature to rapidly fall below the critical temperature, said cooling means operating by the Peltier effect. 17. An actuator according to claim 16 wherein the cooling means comprises: a first metal element which thermally contacts the actuator element when cooling is desired; a second metal element having a first portion positioned to contact the first metal element to form a first junction; a third metal element of the same type of metal as the first metal element, said third metal element contacting a second portion of the second junction which is spaced from the actuator element; and current means for passing current through the metal elements in a direction which causes heat to be transferred from the first junction to the second junction. 18. An actuator according to claim 17 wherein the first metal element is bonded to the actuator element, the second metal element includes a flexible portion between the first and second portions, and the third metal element is maintained in a fixed position. 19. An actuator according to claim 18 wherein the first portion of the second metal element includes a plurality of extensions which contact the first metal element to form a plurality of first junctions and wherein the second portion of the second metal element includes a plurality of extensions which contact the third metal element to form a plurality of second junctions. 20. An actuator according to claim 17 wherein the third metal element includes an end portion which contacts the actuator element when cooling is desired, said actuator further including: a fourth metal element of the same metal as the second metal element, said fourth metal element having a first portion which contacts the end portion of the third metal element to form a third junction; and a fifth metal element of the same metal as the first and third metal elements, said fifth metal element contacting a portion of the fourth metal element to form a fourth junction; wherein the current means passes current through the metal elements in a series fashion to transfer heat from the first junction to the second junction and from the third junction to the fourth junction. 21. an actuator according to claim 20 including a heat sink contacting the second and fourth junctions. 22. An actuator according to claim 16 wherein the cooling means comprises; a first metal element having a first portion which contacts the actuator element when cooling is desired to thereby form a first junction; a second metal element of the same metal as the actuator element, said second element contacting a second portion of the first element to thereby form a second junction; and current means for passing current through the actuator element, first metal element and second metal element in a direction which causes heat to be transferred from the first junction to the second junction.