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WO2007051663A1 - Dispositif de deplacement d'un objet - Google Patents

Dispositif de deplacement d'un objet Download PDF

Info

Publication number
WO2007051663A1
WO2007051663A1 PCT/EP2006/065407 EP2006065407W WO2007051663A1 WO 2007051663 A1 WO2007051663 A1 WO 2007051663A1 EP 2006065407 W EP2006065407 W EP 2006065407W WO 2007051663 A1 WO2007051663 A1 WO 2007051663A1
Authority
WO
WIPO (PCT)
Prior art keywords
axle
elements
axle elements
freedom
excitation
Prior art date
Application number
PCT/EP2006/065407
Other languages
German (de)
English (en)
Inventor
Claus Angerer
Axel Gerlt
Jörg HASSEL
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2007051663A1 publication Critical patent/WO2007051663A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B23Q1/34—Relative movement obtained by use of deformable elements, e.g. piezoelectric, magnetostrictive, elastic or thermally-dilatable elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
    • B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1095—Programme-controlled manipulators characterised by positioning means for manipulator elements chemically actuated
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
    • G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
    • G02B7/1822—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors comprising means for aligning the optical axis
    • G02B7/1827—Motorised alignment

Definitions

  • the invention relates to a device for moving an object with at least one first and one second axis ⁇ element and a machine tool with such a front ⁇ direction.
  • Such a device can be used for example for Ausrich ⁇ tion of an object or for generating a certain force or torque.
  • a typical application in the industrial environment is a horrma ⁇ machine, in which a tool for machining purposes in a certain position relative to the workpiece to be machined to be driven.
  • the corresponding position data are specified by a higher-level controller and can be approached by means of the device.
  • actuators For moving an object such as a work ⁇ zeugs accordance with the procedures of a higher-level control unit ⁇ passed location data is now generally used classical actuators.
  • Such actuators are, for example, electric motors or hydraulic or pneumatic drives which frequently act on the object to be moved via a gear, a toothed rack, ballscrew spindles, levers and the like.
  • rotary movements are converted into linear movements.
  • a hexapod consists of six rod-shaped elements that can be individually shortened or lengthened telescopically. These six telescopic legs create a parallel-kinematical structure. By coordinated changes in length of the telescopic legs, an object can free all six degrees of freedom ⁇ be moved with respect.
  • the invention has for its object to allow as possible a ⁇ fold movement of an object in the room.
  • a device for moving an object comprising a first and a second axle element, wherein the first and the second axle element are arranged such that the object by substantially axially directed changes in length of the axle elements with respect to at least two degrees of freedom movable is, wherein the axle elements of a form-variable by an electrical, thermal or magnetic excitation material and wherein the respective substantially axially directed change in length of the shaft elements can be effected by the excitation.
  • the invention is based on the finding that already ei ⁇ ne coupling of only two linearly variable-length elements to a parallel kinematic can be used to move the object with respect to two degrees of freedom in space. According to the invention, such a movement is effected by an extension or shortening of the axle elements.
  • the shaft elements are made of materials whose shape can be changed by the influence of the physical quantities voltage, magnetic field or temperature. Such materials are used here as well as throughout the also referred to as intelligent materials.
  • Step Example ⁇ le for intelligent materials are electroactive polymers, Magnetic Shape Memory Actuators, metal foams and Piezomate- rials.
  • Such axle elements can be highly dynamically changed in length by excitation with the corresponding physical quantity, whereby a very simple, precise and dynamic movement of the object can be effected.
  • the device according to the invention is also suitable for implementation in miniaturized applications, as occur, for example, in micromechanics.
  • the device is embodied as a tripod, the device having a third axle element made of a material which can be changed in shape by electrical, thermal or magnetic excitation, wherein a substantially axially directed change in length of the third axle element can be effected by the excitation and wherein first, second and third axles are arranged such that the object is movable by its on ⁇ tion with respect to at least three degrees of freedom.
  • a further degree of freedom is obtained for moving the object.
  • the axle elements have a common point of contact with the object.
  • a displacement of objectivity tes with respect to a degree of freedom and a rotation of the Ob ⁇ jektes with respect to two degrees of freedom are performed.
  • another distribution of the 3 possible degrees of freedom is conceivable. Decisive for this is the type of coupling of the object to the common contact point.
  • the device comprises a by the axle elements posi ⁇ tionable substantially axially variable-length auxiliary element, which has a further contact point to the object.
  • auxiliary element posi ⁇ tionable substantially axially variable-length auxiliary element, which has a further contact point to the object.
  • auxiliary element is expediently made of a material which can be changed in shape by electrical, thermal or magnetic excitation.
  • the device is embodied as hexapod, wherein the device with a fourth, fifth and sixth axis element from one by a elekt ⁇ cal, thermal or magnetic excitation of shape-changeable material is carried out, wherein a substantially axially directed change in length of the fourth, fifth and sixth axis element can be effected by the excitation and wherein tes, second, third, fourth, fifth and sixth Achsele ⁇ ment are arranged such that the object by its on ⁇ movement with respect to all six degrees of freedom is movable.
  • axle elements When using six axle elements, on the one hand, it is ensured that all six degrees of freedom are available for the movement of the object. In addition, it is ensured in a use of six axle elements, that a 6-tuple from the six lengths of the axle elements Amsterdamin ⁇ to exactly one position and the orientation is mapped to moving object involved consisting clearly.
  • axle elements of the device can be connected to the object in an articulated manner.
  • the type of joint is preferably to choose the axle elements used in dependence of at ⁇ paid.
  • an advantageous embodiment of the invention is characterized in that the articulated connection possibility of the axle to the object is designed such that at ei ⁇ ner n number of connected to the object axle elements maximum n degrees of freedom for the Movement of the object are available. This condition is necessary, if is to ensure that any n-tuple of n ⁇ axle lengths unambiguously to exactly one position and orientation of the moving object is mapped to.
  • a ball joint is expedient for ensuring the six degrees of freedom, which allows all three rotational degrees of freedom.
  • a joint with a reduced number of rotatory degrees of freedom relative to the ball joint will preferably be provided, provided that one wants to ensure a one-to-one mapping of each 3-tuple of the three axis lengths to exactly one position and position of the object to be moved.
  • an embodiment of the invention is advantageous in which the device for spindle guidance is provided in a machine tool.
  • a further advantageous embodiment of the invention is characterized in that the device is provided for alignment of a reflector.
  • a reflector can be used, for example, for the targeted deflection of laser beams, which are used for high-precision cutting processes in manufacturing technology.
  • the device is provided for transporting the object.
  • the device for transporting the object.
  • many tripods in an array and coordinated control of these tripods or their axle elements can be linearly transported on the array loose objects similar to a conveyor belt.
  • these objects can also be rotated or transported in curved paths.
  • the object can even move "independently”.
  • the desired shape changeability of the axle elements can be realized by different materials.
  • the material of the shaft elements is an electroactive polymer.
  • electroactive polymers With electroactive polymers, a relatively large change in shape can be achieved by applying an electrical voltage.
  • the required axial movement of the axle elements to move the object can be adjusted by applying the electrical voltage in a relatively large range.
  • the material of the axle elements comprises piezoelectric own ⁇ on properties.
  • a change in length of the axle elements can be achieved by applying a voltage due to the piezoelectric effect.
  • the achievable length change in piezo materials is comparatively low compared to electroactive polymers.
  • the axial change in length of the axle elements can alternatively be generated by a magnetic field.
  • the material of the axle elements is a magnetic shape memory actuator is.
  • the material of the axle elements is a metal foam, the length of such axle elements changing as a result of the influence of a temperature.
  • FIG 2 is a configured as a tripod apparatus for BEWE ⁇ supply of an object in the non-deflected condition
  • Figure 3 shows the designed as a tripod apparatus for moving an object in the deflected state
  • FIG 4 is a configured as a tripod apparatus reflector tion non-deflected laser beam in a Status
  • FIG 5 shows the constructed as a tripod apparatus reflector tion of a laser beam in a deflected to ⁇ stand
  • FIG. 6 shows a first device constructed from an array of tripods for transporting an object
  • FIG. 7 shows a second device constructed from an array of tripods for transporting an object
  • Figure 8 shows a device for executing a hexapod BEWE ⁇ supply of an object
  • Figure 9 is a tripod with an axially variable regions auxiliary member in a first position
  • FIG. 10 shows the tripod with the axially variable country auxiliary element in a second position.
  • the device has a first axle element 1 and a second axle element 2, wherein the two axle elements 1, 2 are made of a material which allows a change in shape by the action of a physical variable.
  • a physical quantity can be electrical, magnetic or thermal.
  • an electrically active polymer was used for the first and second axle element 1, 2, the shape of which can be changed by applying an electrical voltage.
  • Axle members 1,2 are made rod-shaped, whereby a predetermined electrical voltage to ⁇ a substantially axially directed ge ⁇ change in length of the axle members 1,2 has the consequence.
  • the first axle is rigidly connected to a base plate 8 ver ⁇ and connected to the object 7 via a joint 16th
  • the second axle is, however, both the Grundplat ⁇ te 8 as connected also with the object 7 in each case via a joint 16th
  • the joints 16 used are designed as hinges and therefore only allow one movement of the connected axle elements 1,2 with respect to a rotational degree of freedom.
  • FIG. 2 shows a device designed as a tripod 15 for moving an object in the undeflected state.
  • the tripod 15 comprises a first axle 1, a second axis ⁇ element 2, and a third axle 3.
  • an electroactive polymer is used to ensure the axially directed length variability of the shaft elements 1, 2, 3.
  • the common contact point 10 By using three axle elements 1,2,3 one end connected to the common contact point 10 object can bezüg ⁇ Lich three degrees of freedom aligned monitored or po sitioned ⁇ be.
  • the illustrated tripod 15 allows z. B. a movement of the common contact point 10 with respect to two rotational degrees of freedom and a translational degree of freedom.
  • synchronous shortening or Longer side ⁇ delay of the three axle elements 1,2,3 is a vertical Trans ⁇ lation of the common contact point 10 in the vertical direction-possible.
  • the common contact point 10 can be tilted with respect to two angles, in which a corresponding inequality of the three axle elements 1,2,3 is set.
  • the illustrated tripod 15 can be used for example in a work ⁇ machine for spindle guidance.
  • the device has, on the one hand, a motion control controller 11 which predefines the setpoint values for a specific position of the spindle in space.
  • an axis controller 12 calculates which lengths the three axis elements 1, 2, 3 must assume in order to guide the common contact point 10 into the corresponding coordinates.
  • electrical voltages are generated and applied to the shaft elements 1,2,3.
  • Figure 3 shows the designed as a tripod 15 A device for loading ⁇ movement of an object in a deflected state. It is the same tripod 15 which was already in FIG 2 Darge ⁇ represents. Therefore, the same elements have been given the same reference numerals.
  • the common contact point has been performed according to a motion Kipp ⁇ 10th
  • the second and third axle members 2,3 have been lengthened relative to their respective initial length while the first axle member 1 has been shortened compared to its initial length.
  • the illustrated tripod 15 allows a very simple and highly dynamic control of various points in three-dimensional space.
  • the basis for this is the use intelli ⁇ gent materials such as electroactive polymers or alternatively piezoelectric materials. These materials react to an electrical voltage almost distortion-free with a change in shape, which takes place in the illustrated axle elements 1,2,3 substantially in the form of an axial change in length.
  • intelli ⁇ gent materials such as electroactive polymers or alternatively piezoelectric materials. These materials react to an electrical voltage almost distortion-free with a change in shape, which takes place in the illustrated axle elements 1,2,3 substantially in the form of an axial change in length.
  • a higher reliability is achieved, since only a minimum of components is necessary to accomplish the desired alignment or positioning task.
  • conventional drive systems in which a rotational movement is first converted into a translational movement ⁇ Be, due to the high number of components required for this is given a higher probability of failure.
  • mechanical components generally have a clearance, a much higher precision is achieved with the illustrated tripode
  • FIG. 4 shows a device designed as a tripod for reflecting a laser beam 13 in a non-deflected state.
  • three variable-length used axles 1,2,3, which are made of an intelligent material.
  • the three axle elements 1,2,3 are each connected ⁇ wells its own point of contact with a reflector fourteenth
  • the reflector 14 may be with respect to three degrees of freedom are aligned controlled.
  • a laser beam 13 is directed, which is reflected by the reflector 14 in the sense of the same input and Ausfallswinkel.
  • ⁇ can with a specific deflection of the laser beam caused by orientation of the reflector 13 fourteenth
  • FIG. 5 shows the apparatus designed as a tripod for reflecting a laser beam 13 in a deflected state.
  • the reflector 14 was tilted such that the La ⁇ was deflected almost in horizontal direction serstrahl. 13
  • the first and second axle element 1,2 were shortened while the third axle element 3 was lengthened.
  • FIG. 6 shows a first from an array of tripods 15 are ⁇ built device for conveying an object 7 on the underside of the object 7 are positioned six tripod 15 wherein the bottom outside of the object 7, further tripod not shown are present.
  • the different tripods 15 each have three axle elements.
  • the object 7 can be transported both in terms of two degrees of freedom as well as rotated in two degrees of freedom.
  • the object can be raised and lowered in the vertical direction with the aid of the tripods 15, resulting in the third translational degree of freedom.
  • the object 7 can also be tilted with respect to two further angles.
  • FIG 7 shows a second from an array of tripods 15 on ⁇ built device for transporting an object 7.
  • the tripod with the underside of the object 7 are connected so that the common contact point 10 of the Tripod now no longer connected to the object 7, but rests on a floor.
  • an unlimited Fortbewe ⁇ may supply the object 7 with respect to two translational degrees of freedom are achieved.
  • the object may be 7 to move relative to a rotational degree of freedom non ⁇ limited. the corresponding angle of rotation is indicated by the arrows in Fig.
  • the object 7 also in the illustrated embodiment of the invention, it is possible, the object 7 by parallel activations of the tripod 15 in Furthermore, the object 7 can be tilted with respect to the two remaining degrees of freedom Execution of the array of tripods the ability to move the Ob ⁇ jekt 7 with respect to all degrees of freedom.
  • the illustrated here device for moving the object involved 7 is realized a completely new dimension machine is exaggerated ⁇ systems.
  • a form of motion can be generated, as previously known only from nature.
  • ER which is known from nature, for example, insects that Kings move with the help of six feet forward ⁇ nen.
  • the Hexapod shown comprises six variable-length axle elements 1,2,3,4,5,6 which are each designed as a ball joint articulation 16 with a base plate ⁇ 8 and a support plate 9 is connected.
  • Such ball joints 16 allow pivoting of the axle elements 1 to 6 with respect to all three rotational degrees of freedom.
  • the carrier plate 9 can be aligned with respect to all six possible degrees of freedom.
  • Hexapod may be specifically mentioned in order ⁇ field of machine tools, high precision and highly dynamic see positioning of the tool in relation to the machining to ⁇ Tenden workpiece can be achieved. This is also done here in comparison to conventional drive systems with a minimum necessary components.
  • axle elements 1,... 6 made of so-called intelligent materials, a much simpler change in length is possible in comparison to telescopic rods known from the prior art, and a significantly faster implementation of the positioning task is achieved.
  • FIG. 9 shows a tripod 15 with an axially variable auxiliary element 17 in a first position.
  • the Achsele- elements of the tripod 15 form a common contact point 10, which ject with an example here illustrated as a scissors Whether ⁇ 7 is connected.
  • the tripod 15 supports the auxiliary element 17 and can change the position of the auxiliary element 17 by changing the lengths of its axle elements, which are made for this purpose, for example, from an electroactive polymer.
  • the auxiliary element 17 has a further contact point 18, via which it is in communication with the scissors 7.
  • the Darge ⁇ presented arrangement thus allows alignment of the scissors 7 by means of the axle elements of the tripod and an opening and closing of the scissors 7 by means of the auxiliary element 17th
  • FIG. 10 shows the tripod with the axial variable-area auxiliary element 17 in a second position.
  • the example also ge of an electroactive polymer ⁇ was made auxiliary member 17 extended by applying an electrical voltage, thereby opening the scissors. 7
  • the exemplary embodiments of the object 7 in the form of a scissors is intended to show primarily, the embodiments of the invention are also conceivable which also movable members can move a Whether ⁇ jektes relative to each other or twist.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • General Chemical & Material Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de déplacement d'un objet (7). Le dispositif présente un premier et un deuxième éléments d'axe (1, 2), le premier et le deuxième éléments d'axe (1, 2) étant disposés de telle sorte que l'objet (7) puisse être déplacé dans au moins deux degrés de liberté par des modifications de la longueur des éléments axiaux (1, 2) orientées essentiellement axialement. Pour permettre un déplacement aussi simple et dynamique que possible de l'objet dans l'espace, les éléments d'axe sont constitués d'un matériau déformable sous l'action d'une excitation électrique, thermique ou magnétique. L'excitation a pour effet la modification essentiellement axiale de la longueur des éléments d'axe (1, 2).
PCT/EP2006/065407 2005-11-07 2006-08-17 Dispositif de deplacement d'un objet WO2007051663A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005052983A DE102005052983A1 (de) 2005-11-07 2005-11-07 Vorrichtung zur Bewegung eines Objektes
DE102005052983.6 2005-11-07

Publications (1)

Publication Number Publication Date
WO2007051663A1 true WO2007051663A1 (fr) 2007-05-10

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ID=37398912

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2006/065407 WO2007051663A1 (fr) 2005-11-07 2006-08-17 Dispositif de deplacement d'un objet

Country Status (2)

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DE (1) DE102005052983A1 (fr)
WO (1) WO2007051663A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010030007A1 (de) 2010-06-11 2011-12-15 Leica Microsystems (Schweiz) Ag MR-taugliches Mikroskop
DE102016205520A1 (de) * 2016-04-04 2017-10-05 Bayerische Motoren Werke Aktiengesellschaft Wendevorrichtung, Bearbeitungsvorrichtung und Verfahren zum Handhaben eines Werkstücks

Citations (5)

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Publication number Priority date Publication date Assignee Title
JPH1190867A (ja) * 1997-09-17 1999-04-06 Olympus Optical Co Ltd マイクロマニピュレータ
DE10156491A1 (de) * 2001-11-16 2003-05-28 Fraunhofer Ges Forschung Vorrichtung zum Abstützen eines Trägers
EP1340478A2 (fr) * 2002-02-28 2003-09-03 Honda Giken Kogyo Kabushiki Kaisha Mécanisme à bras articulés parallèles et articulation artificielle utilisant un tel mécanisme
WO2003093648A1 (fr) * 2002-05-06 2003-11-13 Nanomuscle, Inc. Actionneur a deux degres angulaires de liberte
DE10237089A1 (de) * 2002-08-13 2004-02-26 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Steuer- und/oder Regelelement sowie Verfahren zu dessen Herstellung

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DE19833904C2 (de) * 1998-07-22 2002-07-18 Hahn Meitner Inst Berlin Gmbh Verstelleinrichtung für die Positionierung eines Probentisches
DE102004004313A1 (de) * 2004-01-28 2005-08-18 Guido Kübler GmbH Vorrichtung zur räumlichen Anordnung und Abstützung von einem Arbeitselement zu bzw. an wenigstens einem Basiselement und deren Verwendung

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Publication number Priority date Publication date Assignee Title
JPH1190867A (ja) * 1997-09-17 1999-04-06 Olympus Optical Co Ltd マイクロマニピュレータ
DE10156491A1 (de) * 2001-11-16 2003-05-28 Fraunhofer Ges Forschung Vorrichtung zum Abstützen eines Trägers
EP1340478A2 (fr) * 2002-02-28 2003-09-03 Honda Giken Kogyo Kabushiki Kaisha Mécanisme à bras articulés parallèles et articulation artificielle utilisant un tel mécanisme
WO2003093648A1 (fr) * 2002-05-06 2003-11-13 Nanomuscle, Inc. Actionneur a deux degres angulaires de liberte
DE10237089A1 (de) * 2002-08-13 2004-02-26 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Steuer- und/oder Regelelement sowie Verfahren zu dessen Herstellung

Non-Patent Citations (1)

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Title
J. TELLINEN, I. SUORSA, A. JÄÄSKELÄINEN, I. AALTIO & K. ULLAKKO: "Basic Properties of Magnetic Shape Memory Actuators", 8TH INTERNATIONAL CONFERENCE ACTUATOR 2002, 10 June 2002 (2002-06-10), Bremen, Germany, XP002408553, Retrieved from the Internet <URL:http://www.adaptamat.com/publications/MSM-properties.pdf> [retrieved on 20061121] *

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