Actuator assembly

Abstract

An actuator assembly 2 comprising: a first component 10 wherein a first main axis P is defined with reference to the first component 10; a second part 100 movable relative to the first part 10, in which a second main axis P is defined with reference to the second part 100; a third part 200 movable relative to the second part 100 and the first part 10; a first set of actuation units 30, each actuation unit 30 of the first set of actuation units 30 being configured to apply an actuation force to the second component 100, the actuation force being able to tilt the second component 100 relative to the first component 10 about a first tilt axis x perpendicular to the first main axis P; and a second set of actuation units 30, each actuation unit 30 of the second set of actuation units 30 being configured to apply an actuation force to the third component 200 capable of tilting the third component 200 relative to the second component 100 about a second tilt axis y perpendicular to the second main axis P; wherein the first inclined axis x and the second inclined axis y are non-parallel axes.

Description

[0001] field

[0002] The present application relates to an actuator assembly having one or more actuation units, at least one of which includes a shape memory alloy (SMA) element, such as an SMA wire.

[0003] background

[0004] SMA actuator assemblies may be used in a variety of applications for moving a movable component relative to a support structure.

[0005] For example, WO 2013 / 175197 A1 describes a camera in which four SMA wires are arranged to move a lens element relative to an image sensor in a plane perpendicular to the optical axis of the lens element, thereby achieving optical image stabilization (OIS). WO 2010 / 029316 A1 describes SMA wires for providing OIS in a camera by tilting the camera module. WO 2011 / 104518 A1 describes an actuator assembly with eight SMA wires that enables positional control of a movable element in multiple degrees of freedom.

[0006] Typically, the range of motion (also known as "stroke") of such an SMA actuator assembly is limited by the maximum contraction of the SMA wire, and the actuation force is limited by the maximum force that the SMA wire can generate. To increase the range of motion or actuation force, longer or thicker SMA wires can be used, but this may come at the expense of increased cost, size, and / or power, which may not be practical in miniature applications.

[0007] WO 2022 / 084699 A1 discloses an actuator assembly comprising at least one actuating unit (comprising an SMA wire) that, when actuated, moves a movable component relative to a support structure. The actuating unit can be configured to increase the stroke or actuation force and / or redirect the force applied by the SMA wire.

[0008] Overview

[0009] According to one aspect of the present invention, an actuator assembly is provided, comprising: a first component, wherein a first principal axis is defined with reference to the first component; a second component, which is movable relative to the first component, wherein a second principal axis is defined with reference to the second component; a third component, which is movable relative to the second component and the first component; a first group of actuating units, each of the actuating units in the first group of actuating units being configured to apply an actuating force to the second component, the actuating force being capable of tilting the second component relative to the first component around a first tilt axis perpendicular to the first principal axis; and a second group of actuating units, each of the actuating units in the second group of actuating units being configured to apply an actuating force to the third component, the actuating force being capable of tilting the third component relative to the second component around a second tilt axis perpendicular to the second principal axis; wherein the first tilt axis and the second tilt axis are non-parallel axes. At least one actuating unit in the first group of actuating units includes: a main body portion; a shape memory alloy (SMA) element connected between the main body portion and one of the first and second components and configured to apply an input force to the main body portion during actuation; and a force adjustment element connected between the main body portion and the one of the first and second components and configured to adjust the input force to generate the actuation force. Additionally or alternatively, at least one actuating unit in the second group of actuating units includes: a main body portion; a shape memory alloy (SMA) element connected between the main body portion and one of the second and third components and configured to apply an input force to the main body portion during actuation; and a force adjustment element connected between the main body portion and the one of the second and third components and configured to adjust the input force to generate the actuation force.

[0010] The at least one actuating unit of the first group of actuating units may comprise at least two, three or four actuating units. The at least one actuating unit of the second group of actuating units may comprise at least two, three or four actuating units.

[0011] The first main axis may be the longitudinal axis of the first component. The first main axis may be the main axis and / or the longitudinal axis of the actuator assembly. The first main axis may pass through the first component, the second component and the third component.

[0012] The second main axis may be a longitudinal axis of the second component.The second main axis may pass through the first component, the second component and the third component.

[0013] The actuator assembly may include a third principal axis defined with reference to the third component. The third principal axis may be a longitudinal axis of the third component. The third principal axis may pass through the first component, the second component, and the third component.

[0014] The first component may be a support structure. The second component may be an intermediate component. The third component may be a (e.g., final) movable component. The third component may be a camera module comprising an image sensor and a lens assembly comprising one or more lenses configured to focus an image on the image sensor.

[0015] It should be understood that reference to a component being "connected" between two other components means, for example, that the component is directly or indirectly connected to each of the other components. Such an indirect connection may involve a connection via (one or more) additional components (e.g., a connector) having a fixed position relative to one of the other components. Such an indirect connection may involve a connection via (one or more) additional components that are movable relative to the other components. For example, an SMA element may be connected to one of the first and second components via an additional flexure, for example as described in WO 2022 / 144541 (which is incorporated herein by reference).

[0016] Optionally, at least one actuating unit in the first group of actuating units further includes: a connecting link connected between the main body and the other one of the first component and the second component (different from the "one of the first component and the second component" to which the SMA element and the force adjustment element are connected), wherein the connecting link is configured to transmit the actuating force from the main body to the other one of the first component and the second component, and wherein the connecting link is compliant in a direction perpendicular to the actuating force.

[0017] Optionally, at least one actuating unit in the second group of actuating units further includes: a connecting link connected between the main body and the other one of the second component and the third component (different from the “one of the second component and the third component” to which the SMA element and the force adjustment element are connected), wherein the connecting link is configured to transmit the actuating force from the main body to the other one of the second component and the third component, and wherein the connecting link is compliant in a direction perpendicular to the actuating force.

[0018] The coupling link may be or may include a coupling flexure.The coupling link may be elongated and may be rigid along its length and compliant in a direction perpendicular to its length.

[0019] The coupling link may comprise an SMA wire. In this case, the actuator assembly may be equivalent to the actuator assembly explicitly claimed in clause 1 below.

[0020] The force adjustment element may be or may include a force adjustment flexure.The force adjustment element may be elongated and may be rigid along its length and compliant in a direction perpendicular to its length.

[0021] The body portion, the coupling link and / or the force adjustment element of at least one actuating unit may be formed integrally.

[0022] Optionally, the first set of actuation units is configured to rotate the second component relative to the first component about the first main axis.

[0023] Optionally, the second set of actuation units is configured to rotate the third component relative to the second component about the second primary axis.

[0024] Optionally, the actuator assembly includes a first support mechanism configured to allow the second component to tilt relative to the first component about a first tilt axis and to constrain the second component from tilting relative to the first component about a second tilt axis or an axis parallel to the second tilt axis.

[0025] Optionally, the first support mechanism is configured to allow the second component to rotate relative to the first component about the first principal axis.

[0026] Optionally, the first support mechanism is configured to constrain translational movement of the second component relative to the first component, for example, translational movement along a plane parallel to the first and second axes, translational movement along a plane perpendicular to the first principal axis, and / or translational movement in a direction along the first principal axis (e.g., upward or downward).

[0027] Optionally, the actuator assembly includes a second support mechanism configured to allow the third component to tilt relative to the second component about the second tilt axis and constrain the third component from tilting relative to the second component about the first tilt axis or an axis parallel to the first tilt axis.

[0028] Optionally, the second support mechanism is configured to allow the third component to rotate relative to the second component about the second primary axis.

[0029] Optionally, the second support mechanism is configured to constrain translational movement of the third component relative to the second component, for example, translational movement along a plane parallel to the first and second axes, translational movement along a plane perpendicular to the first principal axis, and / or translational movement in a direction along the first principal axis (e.g., upward or downward).

[0030] Optionally, each actuating unit in the first group of actuating units is configured to apply a force having a component in a first direction along the first main axis on the second component; and / or wherein each actuating unit in the second group of actuating units is configured to apply a force having a component in a first direction along the second main axis on the third component.

[0031] Optionally, the force component in the first direction along the first principal axis is configured to urge the first and second components toward each other. Optionally, the force component in the first direction along the second principal axis is configured to urge the second and third components toward each other.

[0032] Pushing the first and second components toward each other can engage the first and second components with a first support mechanism disposed between the first and second components. Pushing the second and third components toward each other can engage the second and third components with a second support mechanism disposed between the second and third components.

[0033] Optionally, the first directions (i.e., the first direction along the first principal axis and the first direction along the second principal axis) are substantially opposite directions. For example, when the actuator assembly is in a non-tilted configuration (i.e., wherein the second component is not tilted relative to the first component and the third component is not tilted relative to the second component, such that the first principal axis, the second principal axis, and the third principal axis are parallel), the first directions are parallel and opposite directions.

[0034] Optionally, the first group of actuation units comprises a total of two or four actuation units.

[0035] Optionally, the second group of actuation units comprises a total of two or four actuation units.

[0036] When the first group of actuation units includes a total of two actuation units, the support mechanism may be configured to constrain the rotational movement of the second component relative to the first component around the first main axis. When the second group of actuation units includes a total of two actuation units, the support mechanism may be configured to constrain the rotational movement of the third component relative to the second component around the second main axis.

[0037] Optionally, the first group of actuation units includes half (e.g., a first pair) of actuation units on a first side of the actuator assembly and the other half (e.g., a second pair that does not overlap with the first pair) of actuation units on a second side of the actuator assembly opposite to the first side.

[0038] Optionally, the second group of actuation units includes half (e.g., a first pair) of actuation units on a third side of the actuator assembly and the other half (e.g., a second pair that does not overlap with the first pair) of actuation units on a fourth side of the actuator assembly opposite to the third side.

[0039] The first side and the second side may be different from the third side and the fourth side. The first side and the second side may be adjacent to the third side and the fourth side. The first side, the second side, the third side and the fourth side may be arranged in a ring around the first main axis.

[0040] Optionally, each half includes: a first actuating unit configured to apply a force on the second component having a component in a second direction in a plane perpendicular to the first main axis and / or the second main axis, and a second actuating unit configured to apply a force having a component in a third direction in a plane perpendicular to the first main axis and / or the second main axis; wherein the second direction and the third direction are opposite directions.

[0041] In other words, each half may include: a first actuation unit, which is configured to generate a first torque on the second component relative to the first component in a clockwise direction around the first main axis and / or the second main axis, and a second actuation unit, which is configured to generate a second torque on the second component relative to the first component in a counterclockwise direction around the first main axis and / or the second main axis.

[0042] Optionally, the third component includes an electronic component, which may be an image sensor, a transmitter, a display, or a portion thereof.

[0043] Optionally, the third component includes one or more lenses and / or an image sensor. For example, when the actuator assembly is in the non-tilted configuration, the first principal axis can be parallel to the optical axis of the one or more lenses and / or can be perpendicular to the photosensitive area of the image sensor.

[0044] The second group of actuating units may be connected between the first component and the third component, rather than between the second component and the third component. Specifically, at least one actuating unit in the second group of actuating units may include: a main body; a shape memory alloy (SMA) element connected between the main body and one of the first component and the third component and configured to apply an input force to the main body during actuation; and a force adjustment element connected between the main body and the one of the first component and the third component and configured to adjust the input force to generate an actuation force. The at least one actuating unit in the second group of actuating units may also include: a connecting link connected between the main body and the other of the first component and the third component, wherein the connecting link is configured to transmit the actuation force from the main body to the other of the first component and the third component, and wherein the connecting link is compliant in a direction perpendicular to the actuation force.

[0045] According to another aspect of the present invention, an actuator assembly is provided, comprising: a first component, wherein a principal axis is defined with reference to the first component; a second component movable relative to the first component; a plurality of actuating units, each configured to apply an actuating force to the second component, the actuating force enabling the second component to tilt relative to the first component about a first axis perpendicular to the principal axis; and a support mechanism configured to allow the second component to tilt relative to the first component about the first axis. At least one of the actuating units comprises: a main body; a shape memory alloy (SMA) element connected between the main body and the first component and configured to apply an input force to the main body upon actuation; and a force adjustment element connected between the main body and the first component and configured to adjust the input force to generate the actuating force.

[0046] The at least one actuation unit may comprise at least two, three or four actuation units.

[0047] The main axis may be the longitudinal axis of the first component. The main axis may be the main axis and / or the longitudinal axis of the actuator assembly. The main axis may pass through the first component and the second component.

[0048] The actuator assembly may include a second principal axis defined with reference to the second component. The second principal axis may be a longitudinal axis of the second component. The second principal axis may pass through the first component and the second component.

[0049] Optionally, at least one actuation unit further comprises a coupling link connected between the main body portion and the second component, wherein the coupling link is configured to transmit the actuation force from the main body portion to the second component, and wherein the coupling link is compliant in a direction perpendicular to the actuation force.

[0050] The coupling link may be or may include a coupling flexure.The coupling link may be elongated and may be rigid along its length and compliant in a direction perpendicular to its length.

[0051] The body portion, the coupling link and / or the force adjustment element of at least one actuating unit may be formed integrally.

[0052] Optionally, the support mechanism is configured to constrain tilting of the second component relative to the first component about a second axis, the second axis being perpendicular to the main axis and the first axis.

[0053] Optionally, the support mechanism is configured to allow the second component to rotate relative to the first component about the primary axis.

[0054] Optionally, the support mechanism is configured to constrain translational movement of the second component relative to the first component, for example, translational movement along a plane parallel to the first axis (and the second axis), translational movement along a plane perpendicular to the main axis, and / or translational movement in a direction along the main axis (e.g., +z or -z direction).

[0055] Optionally, the actuation unit is configured to rotate the second component relative to the first component about the main axis.

[0056] Optionally, each actuation unit is configured to exert a force on the second component having a component in a first direction along the main axis.

[0057] Optionally, the plurality of actuation units comprises a total of two or four actuation units.

[0058] Where the plurality of actuation units comprises a total of two actuation units, the support mechanism may be configured to constrain rotational movement of the second component relative to the first component about the first principal axis.

[0059] Optionally, the plurality of actuation units includes half (e.g., a first pair) of actuation units on a first side of the actuator assembly and the other half (e.g., a second pair that does not overlap with the first pair) of actuation units on a second side of the actuator assembly opposite the first side.

[0060] Optionally, each half includes: a first actuation unit configured to apply a force having a component in a second direction in a plane perpendicular to the main axis on the second component, and a second actuation unit configured to apply a force having a component in a third direction in a plane perpendicular to the main axis; wherein the second direction and the third direction are opposite directions.

[0061] In other words, each half may include: a first actuation unit configured to generate a first torque on the second component in a clockwise direction around the main axis relative to the first component, and a second actuation unit configured to generate a second torque on the second component in a counterclockwise direction around the main axis relative to the first component.

[0062] Optionally, the second component includes an electronic component, which may be an image sensor, a transmitter, a display, or a portion thereof.

[0063] Optionally, the second component includes one or more lenses and / or an image sensor. For example, when the actuator assembly is in a non-tilted configuration (i.e., wherein the second component is not tilted relative to the first component), the principal axis can be parallel to the optical axis of the one or more lenses and / or can be perpendicular to the photosensitive area of the image sensor.

[0064] The force adjustment element may be or may include a force adjustment flexure.The force adjustment element may be elongated and may be rigid along its length and compliant in a direction perpendicular to its length.

[0065] The body portion of at least one actuating unit, the coupling link and / or the force adjustment element may be formed integrally.

[0066] Optionally, the force modulation element and the body portion of at least one actuation unit are configured to amplify or reduce the magnitude of a mechanical quantity provided by the SMA element(s) upon actuation.

[0067] In other words, the force adjustment element and the main body portion of at least one actuation unit are configured to act like a (e.g., Class 1) lever mechanism that is capable of mechanically amplifying or reducing the magnitude of a mechanical quantity (e.g., force, displacement) provided by (one or more) SMA elements upon actuation.

[0068] For example, at least one actuation unit in the first group of actuation units may be configured such that, upon actuation (i.e., contraction) of the SMA element, the actuation unit is capable of moving the second component relative to the first component by an amount that is greater or less than the change in length of the SMA element (i.e., greater or less than the amount by which the SMA element contracts); and / or at least one actuation unit in the second group of actuation units may be configured such that, upon actuation (i.e., contraction) of the SMA element, the actuation unit is capable of moving the third component relative to the second component by an amount that is greater or less than the change in length of the SMA element (i.e., greater or less than the amount by which the SMA element contracts).

[0069] For example, at least one of the plurality of actuation units may be configured such that, upon actuation (i.e., contraction) of the SMA element, the actuation unit is capable of moving the second component relative to the first component by an amount that is greater or less than the change in length of the SMA element (i.e., greater or less than the amount by which the SMA element contracts).

[0070] Optionally, the SMA element is an SMA wire.

[0071] The actuator assembly may be a micro-actuator for a camera assembly or a mobile phone. The above-mentioned actuator unit may provide optical image stabilization (OIS) by providing tilting of a camera module including a lens assembly and an image sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Certain embodiments of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0074] Figure 1 is a schematic cross-sectional view of a camera assembly incorporating an actuator assembly;

[0075] Figure 2is a schematic plan view of the actuator assembly.

[0076] Figure 3 is a schematic perspective view of a portion of an actuator assembly;

[0077] Figure 4 is a plan view of an actuation unit forming part of an actuator assembly;

[0078] Figure 5-Figure 8 are schematic cross-sectional views of different variations of actuator assemblies incorporating different variations of actuation units;

[0079] Figure 9 is a perspective view of a variation of the actuation unit;

[0080] Figure 10 It is combined Figure 9 A schematic cross-sectional view of a variation of an actuator assembly of an actuation unit;

[0081] Figure 11-14 are schematic cross-sectional views of different variations of actuator assemblies.

[0082] Detailed description

[0083] Camera components

[0084] Figure 1 Schematically, a device 1 is shown incorporating an actuator assembly 2. In this example, the device 1 is a camera assembly 1. Typically, the camera assembly 1 will be incorporated into a portable electronic device such as a smartphone. Therefore, miniaturization can be an important design criterion.

[0085] The actuator assembly 2 includes a support structure 10 (also referred to herein as a first component 10), an intermediate component 100 (also referred to herein as a second component 100), and a movable component 200 (also referred to herein as a third component 200). The intermediate component 100 is movable relative to the support structure 10. The movable component 200 is movable relative to the intermediate component 100 and the support structure 10. When the actuator assembly 2 is included in, for example, the device 1, the support structure 10 can be fixed relative to the main body of the device 1. However, in general, the support structure 10 need not be stationary and can be movable relative to or within the device 1.

[0086] The actuator assembly 2 includes a first set of actuating units 30 connected between the support structure 10 and the intermediate component 100 (i.e., connected to the support structure 10 and the intermediate component 100). The first set of actuating units 30 is arranged to apply actuating forces F between the intermediate component 100 and the support structure 10. Selectively varying these actuating forces F can cause the intermediate component 100 to move relative to the support structure 10. Thus, the first set of actuating units 30 is capable of driving the intermediate component 100 to move relative to the support structure 10.

[0087] The actuator assembly 2 further comprises a second set of actuating units 30 connected between the intermediate member 100 and the movable member 200 (i.e., connected to the support structure 10 and the intermediate member 100). The second set of actuating units 30 is arranged to apply actuating forces F between the movable member 200 and the intermediate member 100. Selectively varying these actuating forces F can cause the movable member 200 to move relative to the intermediate member 100. Thus, the second set of actuating units 30 is capable of driving the movable member 200 to move relative to the intermediate member 100.

[0088] The movable part 200 is supported on the support structure 10 via the intermediate part 100 and is therefore configured to move together with the intermediate part 100 when the intermediate part 100 moves relative to the support structure 10. Therefore, the first group of actuating units 30 can also move the movable part 200 relative to the support structure 10 via the intermediate part 100.

[0089] A first principal axis P is defined with reference to the support structure 10. The first principal axis P extends through the support structure 10, for example, through the center of the support structure 10. In some examples, the support structure 10 extends primarily in a direction perpendicular to the first principal axis P. In other words, the extent of the support structure 10 along the first principal axis P is less than its extent along any direction perpendicular to the first principal axis P. The first principal axis P can be the longitudinal axis of the support structure 10. The first principal axis P can pass through the first component 10, the second component 100, and the third component 200.

[0090] The second principal axis S is defined with respect to the intermediate component 100 and thus moves (e.g., tilts) with the intermediate component 100 when the intermediate component 100 moves (e.g., tilts) relative to the support structure 10. The second principal axis S extends through the intermediate component 100, for example, through the center of the intermediate component 100. In some examples, the intermediate component 100 extends primarily in a direction perpendicular to the second principal axis S. In other words, the extent of the intermediate component 100 along the second principal axis S is less than its extent along any direction perpendicular to the second principal axis S. The second principal axis S may be the longitudinal axis of the intermediate component 100. The second principal axis S may pass through the first component 10, the second component 100, and the third component 200.

[0091] The third principal axis T is defined with reference to the movable member 200. Thus, when the movable member 200 moves (e.g., tilts) relative to the intermediate member 100 (and therefore also relative to the support structure 10), the third principal axis T moves (e.g., tilts) along with the movable member 200. The third principal axis T extends through the movable member 200, for example, through the center of the movable member 200. In some examples, the movable member 200 extends primarily in a direction perpendicular to the third principal axis T. In other words, the extent of the movable member 200 along the third principal axis T is less than its extent along any direction perpendicular to the third principal axis T. The third principal axis T may be the longitudinal axis of the movable member 200. The third principal axis T may pass through the first member 10, the second member 100, and the third member 200.

[0092] The movable component 200 (also referred to herein as the camera module 200) includes an image sensor 220 and a lens assembly 210, the lens assembly 210 including one or more lenses 211 configured to focus an image on the image sensor 220. The lens assembly 210 may include a lens holder 210 (e.g., in the form of a cylindrical body) that supports the one or more lenses 211. The image sensor 220 is configured to capture an image and may be of any suitable type, such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS) device. The camera assembly 1 may be a compact camera assembly 1 in which each lens 211 has a diameter of 20 mm or less, such as a diameter of 12 mm or less.

[0093] The first set of actuating units 30 is configured to tilt (i.e. rotate) the intermediate part 100 (and therefore also the movable part 200) relative to the support structure 10 about a first tilting axis x perpendicular to the first main axis P upon selective actuation. The second set of actuating units 30 is configured to tilt (i.e. rotate) the movable part 200 relative to the intermediate part 100 (and therefore also relative to the support structure 10) about a second tilting axis y perpendicular to the second main axis S upon selective actuation. The first tilting axis x and the second tilting axis y are non-parallel axes. Figure 2 As shown, the first tilt axis x and the second tilt axis y can be perpendicular to each other when viewed along the main axis P. The first and second sets of actuating units 30, 30 can provide optical image stabilization (OIS) by driving this tilt of the camera module 200 relative to the support structure 10. This OIS function is also referred to herein as "tilt OIS."

[0094] Figure 1 and Figure 2The actuator assembly 2 is shown in a non-tilted configuration, wherein the intermediate component 100 is not tilted relative to the support structure 10, and the movable component 200 is not tilted relative to the intermediate component 100 (and the support structure 10), such that the first principal axis P, the second principal axis S, and the third principal axis T are collinear (i.e., the first principal axis P, the second principal axis S, and the third principal axis T are parallel and coincident). In other embodiments, when the actuator assembly 2 is in the non-tilted configuration, the first principal axis P, the second principal axis S, and the third principal axis T may be parallel, but may not necessarily coincide.

[0095] like Figure 1 As shown, when the actuator assembly 2 is in the non-tilted configuration, the optical axis O of the lens assembly 210 and the imaging axis of the image sensor 220 may also be collinear with the first principal axis P, the second principal axis S, and the third principal axis T (i.e., the first principal axis P, the second principal axis S, the third principal axis T, the optical axis O, and the imaging axis may be parallel and coincident). In other embodiments, or for example, where the lens assembly 210 has been translated relative to the image sensor 220 in a direction perpendicular to the optical axis O, when the actuator assembly 2 is in the non-tilted configuration, the first principal axis P, the second principal axis S, the third principal axis T, the optical axis O, and the imaging axis may be parallel to each other but may not necessarily coincide.

[0096] Each actuation unit 30 includes a shape memory alloy (SMA) wire 34 that is configured to, when actuated (ie, when contracted), drive relative movement between components of the actuator assembly 2 to which the actuation unit 30 is connected.

[0097] The camera assembly 1 also includes a controller 8. The controller 8 can be implemented in the form of an integrated circuit (IC) chip. The controller 8 generates a drive signal for the actuation unit 30 (particularly the SMA wire 34 that forms part of the actuation unit 30). SMA material has the property that when heated, it undergoes a solid-state phase change that causes the SMA material to contract. Therefore, applying a drive signal to the SMA wire 34, thereby heating the SMA wire 34 by causing an electric current to flow, will cause the SMA wire 34 to contract and thereby actuate the actuation unit 30 to drive relative movement of the movable part 200. The drive signal is selected to drive the relative movement of the movable part 200 in a desired manner, for example, to achieve optical optical system (OIS) by stabilizing the image sensed by the image sensor 220. The controller 8 provides the generated drive signal to the SMA wire 34.

[0098] Optionally, the camera assembly 1 further includes a motion sensor (not shown), which may include a 3-axis gyroscope and a 3-axis accelerometer. The motion sensor can generate a signal representing the motion (specifically, vibration or "shake") of the camera assembly 1, which can be processed to generate a signal representing the desired movement of the movable component 200 to compensate for such shake. The controller 8 receives such a signal and can generate a drive signal for the SMA wire 34 to implement OIS.

[0099] The lens assembly 210 can be moved relative to the image sensor 220 along the optical axis O. In this case, the actuator assembly 2 may include one or more further actuation units (not shown) configured to drive such relative movement. This relative movement has the effect of adjusting the focus of the image on the image sensor 4, i.e., providing an autofocus (AF) function.

[0100] The lens assembly 210 and the image sensor 220 can be movable relative to each other in any direction perpendicular to the optical axis O. This relative movement can be translational and / or rotational (e.g., the image sensor 220 can be rotated about the optical axis O relative to the lens assembly 210). In this case, the actuator assembly 2 can include one or more further actuation units (not shown) configured to drive such relative movement. This relative movement has the effect of shifting the image on the image sensor 4 and can provide an OIS function. This variation of OIS is also referred to herein as "shift OIS."

[0101] Controller 8 may also generate drive signals for these additional actuation units. In other words, controller 8 may also be configured to provide drive signals selected to drive relative movement between lens assembly 210 and image sensor 220 in a desired manner, for example, to implement AF and / or shift-OIS functionality. Alternatively, at least some of the drive signals for these additional actuation units may be provided by one or more different controllers.

[0102] One or more of the further actuation units may be SMA actuation units, ie actuation units comprising SMA elements.One or more of the further actuation units may be non-SMA actuation units, such as voice coil motor (VCM) actuation units.

[0103] Although the actuator assembly 2 is described in conjunction with the camera assembly 1, it will be understood that the actuator assembly 2 may be used in any device in which it is desired that a movable component be tilted relative to the support structure 10, for example, to provide tactile feedback in a tactile feedback device or to move a projector or display in an augmented reality (AR) or virtual reality (VR) device.

[0104] like Figure 3 As shown, the actuator assembly 2 includes a first support mechanism 401, 402 that supports the intermediate component 100 on the support structure 10. The first support mechanism 401, 402 is arranged between the intermediate component 100 and the support structure 10. The first support mechanism 401, 402 is configured to allow the intermediate component 100 to tilt relative to the support structure 10 around a first tilting axis x. The first support mechanism 401, 402 is also configured to constrain (i.e., reduce or prevent) the intermediate component 100 from tilting relative to the support structure 10 around an axis perpendicular to the first tilting axis x and perpendicular to the first main axis P. The first support mechanism 401, 402 can also be configured to constrain the translational movement of the intermediate component 100 relative to the support structure 10 in any direction (or at least one direction) perpendicular to the first main axis P. The first support mechanism 401, 402 may include one or more of the following supports: a rolling support (such as Figure 3 ball bearings as shown), flexure bearings (i.e., a mechanism of flexures or other elastic elements that guide movement), or sliding (i.e., sliding contact) bearings.

[0105] Similarly, the actuator assembly 2 further includes second support mechanisms 403, 404 that support the movable member 200 on the intermediate member 100. The second support mechanisms 403, 404 are disposed between the movable member 200 and the intermediate member 100. The second support mechanisms 403, 404 are configured to allow the movable member 200 to tilt relative to the intermediate member 100 about the second tilt axis y. The second support mechanisms 403, 404 are further configured to constrain, i.e., reduce or prevent, tilting of the movable member 200 relative to the intermediate member 100 about an axis perpendicular to the first tilt axis x and perpendicular to the second principal axis S. The second support mechanisms 403, 404 can also be configured to constrain translational movement of the movable member 200 relative to the intermediate member 100 in any direction (or at least one direction) perpendicular to the second principal axis S. The second support mechanisms 403, 404 can include one or more of the following: a rolling bearing (such as a ball bearing), a flexure bearing (i.e., a mechanism that flexes or other elastic elements that guide movement), or a sliding (i.e., sliding contact) bearing.

[0106] The first bearing mechanisms 401 , 402 may be configured to allow the intermediate component 100 to rotate relative to the support structure 10 about the first main axis P. In this case, the first set of actuation units 30 may be configured to rotate the intermediate component 100 (and therefore also the movable component 200 ) relative to the support structure 10 about the first main axis P upon selective actuation.

[0107] The second bearing mechanisms 403, 404 may also be configured to allow the movable part 200 to rotate relative to the middle part 100 about the second main axis S. In this case, the second set of actuation units 30 may also be configured to rotate the movable part 200 relative to the middle part 100 (and therefore also the support structure 10) about the second main axis S upon selective actuation.

[0108] The first and second groups of actuating units 30 and 30 can provide OIS (i.e., compensation for rolling movement) by driving the camera module 200 (particularly the image sensor 220) to rotate relative to the support structure 10 about the first and second principal axes P and S. This OIS function is also referred to herein as "rolling OIS."

[0109] Actuator assembly first stage

[0110] Figure 3 The diagram shows a "first tilting stage" of the actuator assembly 2, which comprises the support structure 10, the intermediate part 100, the first set of actuating units 30 and the first bearing mechanisms 401, 402. The term "first tilting stage" is used herein to refer to a set of components of the actuator assembly 2 that are configured to enable tilting of the intermediate part 100 relative to the support structure 10 about a first axis x.

[0111] like Figure 3 As shown, the first support mechanism 401, 402 comprises a first support 401 and a second support 402. The first support 401 is located on the first side 2a of the actuator assembly 2 and the second support 402 is located on the opposite second side 2b of the actuator assembly 2. The first support mechanism 401, 402 (i.e., its first support 401 and second support 402) defines a first tilting axis x. The two supports 401, 402 allow the intermediate component 100 to rotate relative to the support structure 10 about the first tilting axis x. This rotation is Figure 3 The two supports 401 , 402 also allow the middle part 100 to rotate about the first main axis P relative to the support structure 10 .

[0112] like Figure 3 As shown, the first group of actuating units 30 includes four SMA actuating units 301-304. Figure 2 and Figure 3 1 . The four SMA actuation units 301-304 are depicted only with crosshatching. Each of these SMA actuation units 301-304 is connected between the intermediate member 100 and the support structure 10. Specifically, one end of each of these SMA actuation units 301-304 is connected to the intermediate member 100, and the other end of each of these SMA actuation units 301-304 is connected to the support structure 10. When the SMA actuation units 301-304 are in a tensioned state, each SMA actuation unit 301-304 provides a downward force on the intermediate member 100 (i.e., exerts a force on the intermediate member 100 having a component in a downward direction along the first principal axis P). This downward force component pushes the intermediate member 100 and the support structure 10 toward each other.

[0113] A first pair of SMA actuation units 301, 302 are located on a third side 2c of the actuator assembly 2, and a second pair of SMA actuation units 303, 304 are located on an opposite fourth side 2d of the actuator assembly 10. The first side 2a and the second side 2b are distinct from the third side 2c and the fourth side 2d. The first side 2a and the second side 2b are adjacent to the third side 2c and the fourth side 2d. The first, second, third, and fourth sides 2a-2d are arranged in a ring about a first principal axis P. The first pair of SMA actuation units 301, 302 lie generally in a first plane parallel to the first principal axis P, and the second pair of SMA actuation units 303, 304 lie generally in a second plane parallel to the first principal axis P.

[0114] The first pair of SMA actuation units 301, 302 can be actuated to generate a first downward force on a first side of the intermediate member 100 (located on the third side 2c of the actuator assembly 2). The second pair of SMA actuation units 303, 304 can be actuated to generate a second downward force on an opposite second side of the intermediate member 100 (located on the fourth side 2d of the actuator assembly 2).

[0115] When these first and second forces are suitably balanced (e.g. equal), the intermediate component 100 can be held against the first bearing means 401 , 402 in its non-inclined position relative to the support structure 10 (such that the first and second main axes P, S are at least parallel to each other).

[0116] When these first and second forces are unbalanced (e.g. different), the intermediate part 100 tilts relative to the support structure 10 about the first tilting axis x in one direction or the other, depending on which of the first and second forces is greater. As described above, this rotation Figure 3 is marked as Rx.

[0117] The first SMA actuation unit 301 and the third SMA actuation unit 303 can be actuated to, among other things, generate a first torque on the intermediate component 100 in a clockwise direction relative to the support structure 10 about the first principal axis P. The second SMA actuation unit 302 and the fourth SMA actuation unit 304 can be actuated to, among other things, generate a second torque on the intermediate component 100 in a counterclockwise direction relative to the support structure 10 about the first principal axis P. When the first torque and the second torque are unbalanced (e.g., different), the intermediate component 100 can rotate relative to the support structure 10 about the first principal axis P in one direction or the other, depending on which of the first torque and the second torque is greater.

[0118] The relative rotation of the middle part 100 about the first main axis P and (simultaneously) about the first tilting axis x can be produced by a combination of the actuations described above.

[0119] Second stage of the actuator assembly

[0120] The term "second tilt stage" is used herein to refer to a set of components of the actuator assembly 2 that are configured to enable the movable part 200 to tilt relative to the intermediate part 100 about a second tilt axis y. The second tilt stage of the actuator assembly 2 includes the intermediate part 100, the movable part 200, a second set of actuating units 30, and second support mechanisms 403, 404. The second tilt stage operates in the same manner as the first tilt stage. The second tilt stage can be considered an inverted version of the first tilt stage, which is arranged to tilt the movable part 200 relative to the intermediate part 100 about the second tilt axis y, rather than tilting the intermediate part 100 relative to the support structure 10 about the first tilt axis x.

[0121] The second support mechanism 403, 404 includes a third support 403 and a fourth support 404. The third support 403 is located on the third side 2c of the actuator assembly 2, and the fourth support 404 is located on the opposite fourth side 2d of the actuator assembly 2. The second support mechanism 403, 404 (i.e., its first support 401 and second support 402) defines a second tilt axis y. The two supports 403, 404 allow the movable part 200 to rotate relative to the intermediate part 100 about the second tilt axis y. This rotation can be referred to as rotation Ry. The two supports 403, 404 also allow the movable part 200 to rotate relative to the intermediate part 100 about the second main axis S.

[0122] The second set of actuating units 30 comprises four SMA actuating units 30, which are shown in FIG. Figure 21. The SMA actuation units 30 are depicted only with crosshatching. Each of these SMA actuation units 30 is connected between the movable member 200 and the intermediate member 100. Specifically, one end of each of these SMA actuation units 30 is connected to the movable member 200, and the other end is connected to the intermediate member 100. Each of these SMA actuation units 30 provides an upward force on the movable member 200 (i.e., exerts a force having a component in an upward direction along the second major axis S on the movable member 200). This upward force component pushes the movable member 200 and the intermediate member 100 toward each other.

[0123] A first pair of the SMA actuation units 30 is located on a first side 2a of the actuator assembly 2, and a second pair of the SMA actuation units 30 is located on an opposing second side 2b of the actuator assembly 10. The first pair of the SMA actuation units 30 lies generally in a first plane parallel to the second principal axis S, and the second pair of the SMA actuation units 30 lies generally in a second plane parallel to the second principal axis S.

[0124] A first pair of the SMA actuation units 30 can be actuated to generate a first, upward force on a first side of the movable member 200 (located on the first side 2 a of the actuator assembly 2). A second pair of the SMA actuation units 30 can be actuated to generate a second, upward force on an opposing, second side of the movable member 200 (located on the second side 2 b of the actuator assembly 2).

[0125] When these first and second forces are properly balanced (e.g. equal), the movable part 200 can be held in its non-tilted position relative to the intermediate part 100 (such that the second main axis S and the third main axis T are at least parallel to each other) against the second bearing means 403, 404.

[0126] When these first and second forces are unbalanced (eg different), the movable part 200 tilts relative to the middle part 100 about the second tilting axis y in one direction or the other, depending on which of these first and second forces is greater.

[0127] Similar to the first tilt stage, one SMA actuation unit 30 in each of the pairs of SMA actuation units 30 is configured to generate, among other things, a first torque on the movable part 200 relative to the intermediate part 100 in a clockwise direction about the second principal axis S, and the other SMA actuation unit 30 in each of the pairs of SMA actuation units 30 may be configured to generate, among other things, a second torque on the movable part 200 relative to the intermediate part 100 in a counterclockwise direction about the second principal axis S. When the first and second torques are unbalanced (e.g., different), the movable part 200 may rotate relative to the intermediate part 100 about the second principal axis S in one direction or the other, depending on which of the first and second torques is greater.

[0128] A relative rotation of the movable part 200 about the second main axis S and (simultaneously) about the second tilting axis y can be produced by a combination of the above-described actuations.

[0129] An important difference between the first and second tilt stages is that the SMA actuation units 30 of the second tilt stage are configured to provide an upward force along the second principal axis S (which, as described above, corresponds to the first principal axis P when the actuator assembly 2 is in the non-tilted configuration), rather than a downward force along the first principal axis P (which, as described above, corresponds to the second principal axis S when the actuator assembly 2 is in the non-tilted configuration). In other words, the first set of actuation units 30 is configured to drive the intermediate member 100 generally downward against the support structure 10, and the second set of actuation units 30 is configured to pull the movable member 200 generally upward against the intermediate member 100.

[0130] This arrangement can be beneficial because, for example, it can allow the movable member 200 to move toward end stops located above and below the movable member 200 during a drop event (e.g., in the event that a smartphone including the camera assembly 1 is dropped). However, it should be understood that this arrangement is optional. The first and second tilt stages can alternatively be configured to apply forces generally in the same direction (e.g., upward or downward) along the first principal axis P and / or the second principal axis S.

[0131] SMA actuator unit with force adjustment element

[0132] Figure 4 A single SMA actuation unit 30 is shown in FIG, but it should be understood that the actuator assembly 2 typically has a plurality of actuation units 30, each of which includes a reference Figure 4 Same parts as described.

[0133] Actuation unit 30 includes a main body portion 31 to which several other components of actuation unit 30 are connected, as described below. Generally, main body portion 31 is relatively rigid compared to the other components of actuation unit 30 and does not significantly deform when actuation unit 30 is actuated. In some examples, main body portion 31 is not a separate component of actuation unit 30. For example, main body portion 31 may be defined as part of one of the other components of actuation unit 30, or may be defined merely as a connection point between the other components of actuation unit 30.

[0134] The actuating unit 30 further includes a force adjustment flexure 32. The force adjustment flexure 32 is connected between the main body portion 31 and one of the first component 10, the second component 100, and the third component 200 of the actuator assembly 2 (e.g., the support structure 10). One end of the force adjustment flexure 32 is connected to the main body portion 31. The other end of the force adjustment flexure 32 is connected to one of the first component 10, the second component 100, and the third component 200, for example, via a foot portion 36. The foot portion 36 is fixed relative to one of the first component 10, the second component 100, and the third component 200. The force adjustment flexure 32 allows the main body portion 31 to pivot relative to one of the first component 10, the second component 100, and the third component 200 about an effective pivot point V. Although the effective pivot point V is Figure 4 32, but the effective pivot point V can be located at a different location and need not be located on the force adjustment flexure 32. This pivotal movement of the main body portion 31 relative to one of the first component 10, the second component 100, and the third component 200 is initially performed in a direction that is substantially perpendicular to the force adjustment flexure 32 (e.g., its length).

[0135] The actuator unit 30 further includes an SMA element 34. In this example, the SMA element 34 is an SMA wire 34. The SMA wire 34 is connected between the main body 31 and one of the first component 10, the second component 100, and the third component 200. One end of the SMA wire 34 is connected to one of the first component 10, the second component 100, and the third component 200, for example, by a crimp (not shown). The other end of the SMA wire 34 is connected to the main body 31, for example, by a crimp 35.

[0136] The actuation unit 30 also includes a coupling link 33. In the illustrated example, the coupling link 33 is a coupling flexure 33. The coupling flexure 33 is connected between the main body 31 and another one of the first component 10, the second component 100, and the third component 200 (different from one of the first component 10, the second component 100, and the third component 200, such as the intermediate component 100). One end of the coupling flexure 33 is connected to the main body 31. The other end of the coupling flexure 33 is connected to the other one of the first component 10, the second component 100, and the third component 200. The coupling link 33 transfers or transmits the actuation force F from the main body 31 to the other one of the first component 10, the second component 100, and the third component 200. The actuation force F acts parallel to the length of the coupling link 33. The coupling link 33 is compliant (i.e., deformable) in a direction (or directions) perpendicular to the actuation force F and / or in a direction (or directions) perpendicular to its length. This allows another of the first component 10, the second component 100, and the third component 200 to move in a direction other than the direction of the coupling flexure 33 and the actuation force F. This may be desired, for example, if a different actuation unit 30 moves another of the first component 10, the second component 100, and the third component 200 in a different direction.

[0137] In this example, the body portion 31, force adjustment flexure 32, coupling flexure 33, and foot portion 36 are integrally formed from a single piece of material, such as metal. In other examples, one or more of these features, if present, may be formed from different parts or materials.

[0138] The SMA wire 34 is arranged to apply an input force Fi to the main body portion 31 when contracted. The input force Fi acts parallel to the length of the SMA wire 34. The force-adjusting flexure 32 and the main body portion 31 are arranged to adjust the input force Fi to generate an actuation force F, which is transmitted from the main body portion 31 to another of the first component 10, the second component 100, and the third component 200 via the coupling flexure 33. Specifically, the input force Fi deforms the force-adjusting flexure 32, thereby causing the main body portion 31 to pivot about the effective pivot point V. Simply put, the force-adjusting flexure 32 and the main body portion 31 act like a lever. The force-adjusting flexure 32 and the main body portion 31 can adjust the direction and / or magnitude of the input force Fi to generate the actuation force F. In other words, the force-adjusting flexure 32 and the main body portion 31 are configured to amplify or reduce the magnitude of the mechanical force provided by the SMA element 34 during actuation. In other words, the force modulating flexure 32 and the main body portion 31 are configured to function like a (eg, Class 1) lever mechanism that can mechanically amplify or reduce the magnitude of a mechanical quantity (eg, force, displacement) provided by the SMA wire 34 upon actuation.

[0139] like Figure 4 As shown, the length of the SMA wire 34 and the length of the connecting link 33 can be at least approximately parallel. Figures 5-10 As shown, the length of the SMA wire 34 and the length of the coupling link 33 may not be parallel to each other (ie, may be angled relative to each other). Figure 9 and Figure 10 As shown, the coupling flexure 33 may be angled approximately 90° relative to the SMA wire 34 .

[0140] like Figure 5-Figure 8 As shown, the body portion 31 can be bent toward the flexure adjustment element 32. One or both ends of the body portion 31—i.e., the section of the body portion 31 connected to the SMA element 34 and / or the section of the body portion 31 connected to the coupling link 33—can be bent toward the flexure adjustment element 32. Bending the section of the body portion 31 connected to the SMA element 34 toward the flexure adjustment element 32 can help ensure that a longer SMA element 34 is provided within the actuation unit 30, which can, for example, help increase travel. Bending the section of the body portion 31 connected to the coupling link 33 toward the flexure adjustment element 32 can help ensure that a longer coupling link 33 is provided within the actuation unit 30, which can, for example, help increase compliance of the coupling link 33.

[0141] In some examples, at least one SMA actuation unit 30 (preferably each actuation unit 30) of the actuator assembly 2 is configured such that the force-modulating flexure 32 and the main body portion 31 amplify the amount of contraction of the SMA wire 34. For example, such amplification may be by a factor greater than 1.5, preferably greater than 2, and more preferably greater than 3.

[0142] In the example provided, the actuation unit 30 is arranged at least substantially in a plane. In particular, at least when the actuator assembly 2 is in a non-tilted configuration, the SMA wire 34, the coupling flexure 33, and the force adjustment flexure 32 are arranged to extend substantially in a common plane. This allows for a compact configuration of the actuation unit 30. When implemented as a plate, the main body portion 31 may also be arranged to extend in this plane. However, in general, the components of the actuation unit 30 do not necessarily need to be arranged in a common plane. For example, the SMA wire 34 and / or the coupling flexure 33 may be angled relative to this plane.

[0143] In the example provided, the force-modulating flexure 32 is placed in tension when the SMA wire 34 contracts. This reduces the risk of buckling the force-modulating flexure 32, thereby reducing the risk of damage to the actuator assembly 2 and making the actuator assembly 2 more reliable. However, the force-modulating flexure 32 can alternatively be arranged to be placed in compression when the SMA wire 34 contracts. An arrangement for placing the force-modulating flexure 32 in compression is disclosed in WO 2022 / 084699 A1, which is incorporated herein by reference.

[0144] In the example provided, the actuation unit 30 includes a coupling link 33 in the form of a coupling flexure 33. The purpose of the coupling link 33 is to allow the other of the first component 10, the second component 100, and the third component 200 to move in a direction perpendicular to the actuation force F. However, in general, the actuation unit 30 need not include the coupling link 33, such as in an example in which the other of the first component 10, the second component 100, and the third component 200 does not move in a direction perpendicular to the actuation force F. Furthermore, the coupling link 33 may be implemented by a component other than the coupling flexure 33, such as a ball bearing or a sliding bearing configured to transmit the actuation force F to the other of the first component 10, the second component 100, and the third component 200 while allowing the other of the first component 10, the second component 100, and the third component 200 to move in a direction perpendicular to the actuation force F. Such an alternative example of the coupling link 33 is disclosed in WO 2022 / 084699 A1. The coupling link 33 may (or may not) be formed from an SMA wire, may (or may not) be integral with the SMA wire 34 , and may (or may not) be driven together with the SMA wire 34 .

[0145] Furthermore, instead of the force adjustment flexure 32, the actuator assembly may include a different type of force adjustment element configured to enable the above-described movement of the main body portion 31 relative to one of the first component 10, the second component 100, and the third component 200. Such a force adjustment element may include, for example, a rigid member having one end connected to one of the first component 10, the second component 100, and the third component 200 via a suitable pivot connection (e.g., a pin joint) and the other end connected to the main body portion 31.

[0146] Specific example of the first tilt level

[0147] like Figure 5 、 Figure 6 and Figure 10 As shown, each of the first set of SMA actuation units 30 (i.e., the SMA actuation units 30 of the first tilt stage) can have a force adjustment flexure 32 connected between the main body portion 31 and the support structure 10. As described above, the force adjustment flexure 32 allows the main body portion 31 to pivot relative to the support structure 10 about an effective pivot point.

[0148] Furthermore, each of the first set of SMA actuation units 30 may have its SMA element 34 connected between the body portion 31 and the support structure 10. In other words, one end of the SMA wire 34 may be connected to the support structure 10, and the other end of the SMA wire 34 may be connected to the body portion 31.

[0149] Furthermore, each of the first group of SMA actuation units 30 may have its coupling link 33 connected between the main body portion 31 and the intermediate component 100. In other words, one end of the coupling link 33 may be connected to the main body portion 31, and the other end of the coupling link 33 may be connected to the intermediate component 100. As described above, the coupling link 33 transfers or transmits the actuation force F from the main body portion 31 to the intermediate component 100.

[0150] like Figure 5 and Figure 10 As shown, each of the first set of SMA actuation units 30 may have a body portion 31 located at a central region of the actuator assembly 2 when viewed along an axis perpendicular to the first tilt axis x and the first main axis P. In addition, each pair of adjacent SMA actuation units 30 may share a common foot portion 36, as shown in FIG. Figure 5 shown.

[0151] Alternatively, as Figure 6 As shown, each of the first set of SMA actuation units 30 can have a body portion 31 located at a non-central region of the actuator assembly 2 (e.g., at a periphery of the actuator assembly 2) when viewed along an axis perpendicular to the first tilt axis x and the first main axis P. Additionally, the SMA wires 34 can cross when viewed along an axis perpendicular to the first tilt axis x and the first main axis P.

[0152] exist Figure 5 、 Figure 6 and Figure 10 In the example shown, each of the first set of SMA actuation units 30 has a force adjustment flexure 32 and an SMA wire 34 connected at one end to the support structure 10, and a coupling flexure 33 connected at one end to the intermediate member 100. However, this arrangement can be reversed, with the force adjustment flexure 32 and the SMA wire 34 connected at one end to the intermediate member 100, and the coupling flexure 33 connected at one end to the support structure 10.

[0153] Specific example of the second tilt level

[0154] like Figure 7 and Figure 8 As shown, each of the second set of SMA actuation units 30 (i.e., the SMA actuation units 30 of the second tilt stage) can have a force adjustment flexure 32 connected between the main body portion 31 and the middle member 100. As described above, the force adjustment flexure 32 allows the main body portion 31 to pivot relative to the middle member 100 about an effective pivot point.

[0155] Furthermore, each of the second set of SMA actuation units 30 may have its SMA element 34 connected between the body portion 31 and the intermediate component 100. In other words, one end of the SMA wire 34 may be connected to the intermediate component 100, and the other end of the SMA wire 34 may be connected to the body portion 31.

[0156] Furthermore, each of the second group of SMA actuation units 30 may have its coupling link 33 connected between the main body portion 31 and the movable member 200. In other words, one end of the coupling link 33 may be connected to the main body portion 31, and the other end of the coupling link 33 may be connected to the movable member 200. As described above, the coupling link 33 transfers or transmits the actuation force F from the main body portion 31 to the movable member 200.

[0157] like Figure 7 As shown, each of the second set of SMA actuation units 30 may have a body portion 31 located at a central region of the actuator assembly 2 when viewed along an axis perpendicular to the second tilt axis y and the second main axis S. Additionally, each pair of adjacent SMA actuation units 30 may share a common foot portion 36.

[0158] Alternatively, as Figure 8 As shown, each of the second set of SMA actuation units 30 can have a body portion 31 located at a non-central region of the actuator assembly 2 (e.g., at a periphery of the actuator assembly 2) when viewed along an axis perpendicular to the second tilt axis y and the second main axis S. Additionally, the SMA wires 34 can cross when viewed along an axis perpendicular to the second tilt axis y and the second main axis S.

[0159] exist Figure 7 and Figure 8 In the example shown, each of the second set of SMA actuation units 30 has a force adjustment flexure 32 and an SMA wire 34 connected at one end to the intermediate member 100, and a coupling flexure 33 connected at one end to the movable member 200. However, this arrangement may be reversed, with the force adjustment flexure 32 and the SMA wire 34 connected at one end to the movable member 200, and the coupling flexure 33 connected at one end to the intermediate member 100.

[0160] application

[0161] As described above, although the actuator assembly 2 is described in conjunction with the camera assembly 1, it should be understood that the actuator assembly 2 can be used in any device in which it is desired to tilt the movable component 200 relative to the support structure 10, for example, to provide tactile feedback in a tactile feedback device or to move a projector or display in an augmented reality (AR) or virtual reality (VR) device.

[0162] An actuator assembly may be used to move at least a portion of an illumination source in a 3D imaging system, such as described in WO2020 / 030916 (which is incorporated by reference to the maximum extent permitted by law).

[0163] An actuator assembly may be used to move at least a portion of a light source (e.g., a projector), a display, or one or more other optical components of a display system for an augmented reality (AR) system or other electronic device.

[0164] Other variants

[0165] It will be appreciated that many other variations of the above examples are possible.

[0166] For example, the actuator assembly 2 may include different types of actuator units than those described above. Examples of such actuator units include Figure 11 The hooked SMA wire arrangement shown, wherein the SMA element 340 is connected between the first component 10 and the second component 100 or between the second component 100 and the third component 200 via a hook 360 or connector 360 configured to engage the middle portion of the SMA element 340. Other examples of such actuation units include: Figures 12 to 14

[0014] The invention also provides an SMA wire arrangement as disclosed in WO 2021 / 111131 A1 (described in more detail below), a folded SMA wire arrangement as disclosed in WO 2013 / 121225 A1, a V-shaped SMA wire with a compliant connector as disclosed in WO 2021 / 156458 A1, a scissor jack arrangement as disclosed in WO 2021 / 111181 A1, or an SMA wire connected only between the first component 10 and the second component 100 or between the second component 100 and the third component 200. To the maximum extent permitted by law, each of the documents mentioned in the preceding sentence is incorporated herein by reference. The actuator assembly 2 can have any number of different types of actuation units and any suitable number of actuation units of each type.

[0167] Although the actuator assembly 2 is Figures 5-10 3. Although depicted as including only actuation units 30 having SMA wires 34 and force adjustment elements 32, it should be understood that at least one of the actuation units 30 may be another type of SMA actuation unit or a non-SMA actuation unit, such as a voice coil motor (VCM) actuation unit.

[0168] exist Figure 5-10, the actuator assembly 2 includes four actuating units 30 in each tilt stage. However, the first tilt stage may alternatively include two opposing actuating units, for example, wherein the actuating units are configured to apply a force parallel to the main axis P, or wherein the first support mechanism is configured to constrain rotation about the main axis P. Similarly, the second tilt stage may alternatively include two opposing actuating units, for example, wherein the actuating units are configured to apply a force parallel to the main axis S, or wherein the second support mechanism is configured to constrain rotation about the main axis S.

[0169] Instead of the second set of actuating units 30 being connected between the intermediate part 100 and the movable part 200 (see for example Figure 2 ), the second set of actuation units 30 may be connected "directly" between the support structure 10 and the movable member 200. For example, each such actuation unit 30 may have a force-modulating flexure 32 and an SMA element 34 connected to the support structure, and may have a coupling link 33 connected to the movable member 200. This arrangement may be simpler to manufacture, but performance may be reduced due to the interaction between the first set of actuation units 30 and the second set of actuation units 30.

[0170] It will be appreciated that in some cases an actuator assembly comprising only a single tilt stage (e.g., only the first tilt stage) may be used. For example, a single tilt stage may be used to provide OIS in a periscope camera.

[0171] It will be appreciated that the first support mechanism may not need to be provided in the actuator assembly 2, for example, where the first group of actuating units includes one or more actuating units that do not need to provide support for tilting about the first tilt axis x. Similarly, it will be appreciated that the second support mechanism may not need to be provided in the actuator assembly 2, for example, where the second group of actuating units includes one or more actuating units that do not need to provide support for tilting about the second tilt axis y.

[0172] SMA

[0173] The term "shape memory alloy (SMA) element" may refer to any element comprising an SMA. An SMA element may be described as an SMA wire. An SMA element may have any shape suitable for the purposes described herein. An SMA element may be elongated and may have a circular cross-section or any other cross-section. The cross-section may vary along the length of the SMA element. An SMA element may have a relatively complex shape, such as a coil spring. It is also possible that the length of an SMA element (however defined) may be similar to one or more of the other dimensions of the SMA element. An SMA element may be sheet-like, and such a sheet may be planar or non-planar. An SMA element may be pliable, or in other words, flexible. In some examples, when connected in a straight line between two components, an SMA element may only exert tension, forcing the two components together. In other examples, an SMA element may bend around a component and, when the SMA element tends to straighten under tension, may exert a force on the component. An SMA element may be beam-like or rigid and may be capable of exerting varying forces (e.g., non-tension) on the element. An SMA element may or may not include non-SMA materials and / or components. For example, an SMA element may include an SMA core and a coating of non-SMA material. Unless the context requires otherwise, the term "SMA element" may refer to any configuration of SMA material that acts as a single actuating element, e.g., that can be individually controlled to generate a force acting on the element. For example, an SMA element may include two or more portions of SMA material mechanically arranged in parallel and / or in series. In some arrangements, an SMA element may be part of a larger SMA element. Such a larger SMA element may include two or more individually controllable components, thereby forming two or more SMA elements. An SMA element may include an SMA wire, an SMA foil, an SMA film, or any other configuration of SMA material. An SMA element may be manufactured using any suitable method, such as by methods involving drawing, rolling, deposition, sintering, or powder fusion. An SMA element may exhibit any shape memory effect, such as a thermal shape memory effect or a magnetic shape memory effect, and may be controlled in any suitable manner (e.g., by Joule heating, another heating technique, or by applying a magnetic field).

[0174] Fold line variation

[0175] One or more of the above-mentioned SMA actuator units 30 may be used Figures 12 to 14, each SMA actuation unit 30' includes an SMA element 34' (e.g., an SMA wire 34') having a first portion and a second portion, the first and second portions being coupled to the first and second portions 10, 100, respectively (i.e., when the actuation unit 30' forms part of a first set of actuation units) or to the second and third portions 100, 200, respectively (i.e., when the actuation unit 30' forms part of a second set of actuation units), and at least one intermediate component 110 configured to engage the SMA element 34' at a position between the first and second portions such that the second portion is maintained at an oblique angle relative to the first portion.

[0176] The second portion of the SMA element 34 ′ may extend at a smaller angle relative to the first principal axis P than the first portion.

[0177] The second portion of the SMA element 34 ′ may extend along the first principal axis P by a greater amount than the first portion.

[0178] The first portion of the SMA element 34 ′ may be longer than the second portion.

[0179] The first portion of the SMA element 34 ′ may extend substantially perpendicular to the first principal axis P or at an acute angle relative to the first principal axis P. As shown in FIG.

[0180] The intermediate component(s) 110 may extend from the first component 10 .

[0181] like Figure 12 As shown, each intermediate component 110 may include a roller configured to engage the SMA element 34 ′.

[0182] like Figure 12 and Figure 13 As shown, each intermediate member 110 may include a flexure for engaging the SMA element(s) 34'. The flexure may be compliant in the plane in which the corresponding SMA element 34' extends.

[0183] The intermediate component(s) 110 may be configured to increase the travel of the SMA element(s) 34 ′.

[0184] Terms

[0185] This article also discloses the following:

[0186] Clause 1. An actuator assembly comprising:

[0187] a first component, wherein a first axis is defined with reference to said first component;

[0188] a second component, the second component being movable relative to the first component;

[0189] a drive mechanism comprising a total of four shape memory alloy (SMA) elements, each SMA element having a first portion and a second portion coupled to the first member and the second member, respectively, and wherein the four SMA elements of the drive mechanism are configured to rotate the second member about the first axis and to rotate the second member about a second axis perpendicular to the first axis; and

[0190] At least one intermediate component is configured to engage one of the four SMA elements of the drive mechanism at a location between the first portion and the second portion such that the second portion is held at an oblique angle relative to the first portion.

[0191] Item 2. An actuator assembly according to Item 1, comprising a support mechanism configured to allow the second component to rotate about the first axis and the second axis, constrain the second component to rotate about a third axis, and constrain the second component to move along the third axis, wherein the third axis is perpendicular to the first axis and the second axis.

[0192] Clause 3. The actuator assembly of clause 1 or clause 2, wherein the four SMA elements of the drive mechanism include a first pair of SMA elements on a first side of the actuator assembly and a second pair of SMA elements on a second side of the actuator assembly opposite the first side.

[0193] Clause 4. The actuator assembly of Clause 3, wherein each of the four SMA elements of the drive mechanism provides a force on the second member having a component in the same direction along the first axis.

[0194] Clause 5. The actuator assembly of clause 3 or 4, wherein within each pair of SMA elements of the drive mechanism, the SMA elements cross when viewed in a direction perpendicular to the first axis.

[0195] Clause 6. The actuator assembly of clause 1 or clause 2, further comprising:

[0196] a third component movable relative to the second component, wherein a fourth axis is defined with reference to the second component;

[0197] An additional drive mechanism is configured to rotate the third component about the fourth axis and to rotate the second component about a fifth axis perpendicular to the fourth axis.

[0198] Clause 7. The actuator assembly of Clause 6, wherein the further drive mechanism comprises a total of four SMA elements, each of the four SMA elements having a first portion and a second portion coupled to the second component and the third component, respectively.

[0199] Item 8. An actuator assembly according to Item 7, comprising at least one intermediate component, wherein the at least one intermediate component is configured to engage one of the four SMA elements of the additional drive mechanism at a position between the first part and the second part so that the second part is maintained at an inclined angle relative to both the first axis and the first part.

[0200] Clause 9. An actuator assembly according to any one of clauses 6 to 8, comprising an additional support mechanism, wherein the additional support mechanism is configured to allow the third component to rotate about the fourth axis and the fifth axis, constrain the third component to rotate about the sixth axis, and constrain the second component to move along the sixth axis, wherein the sixth axis is perpendicular to the fourth axis and the fifth axis.

[0201] Clause 10. An actuator assembly as described in clause 7, clause 8 or clause 9 when dependent on clause 7, wherein each of the four SMA elements of the further drive mechanism provides a force on the third member having a component in the same direction along the first axis.

[0202] Clause 11. An actuator assembly according to clause 7 or any one of clauses 8 to 10 as dependent on clause 7, wherein the four SMA elements of the further drive mechanism comprise a first pair of SMA elements on a third side of the actuator assembly and a second pair of SMA elements on a fourth side of the actuator assembly opposite to the third side.

[0203] Clause 12. The actuator assembly of clause 11 when dependent upon clause 3, wherein the first and second sides of the actuator assembly are adjacent the third and fourth sides of the actuator assembly.

[0204] Clause 13. The actuator assembly of Clause 11 or 12, wherein within each pair of SMA elements of the further drive mechanism, the SMA elements cross when viewed along a direction perpendicular to the fourth axis.

[0205] Clause 14. An actuator assembly according to any one of clauses 6 to 13, wherein, at least when the second component is in a specific position relative to the first component and the third component is in a specific position relative to the second component, the first axis and the fourth axis are parallel or collinear, and / or the fifth axis extends in a direction perpendicular to the second axis.

[0206] Clause 15. An actuator assembly according to any of the preceding clauses, comprising a plurality of intermediate components, each of the plurality of intermediate components being configured to engage a different SMA element at a position between the first portion and the second portion such that the second portion is maintained at an oblique angle relative to both the first axis and the first portion.

[0207] Clause 16. The actuator assembly of Clause 15, wherein each SMA element engaged with one of the intermediate components causes the second portion to extend at a smaller angle relative to the first axis than the first portion.

[0208] Clause 17. The actuator assembly of Clause 15 or 16, wherein each SMA element engaged with one of the intermediate components extends the second portion along the first axis by a greater amount than the first portion.

[0209] Clause 18. The actuator assembly of any one of Clauses 15 to 17, wherein, for each SMA element engaged with one of the intermediate components, the first portion is longer in length than the second portion.

[0210] Clause 19. The actuator assembly of any one of clauses 15 to 18, wherein for each SMA element engaged with one of the intermediate components, the first portion of the SMA element extends substantially perpendicular to the first axis or at an acute angle relative to the first axis.

[0211] Clause 20. The actuator assembly of any preceding clause, wherein the intermediate component extends from the first component.

[0212] Clause 21. The actuator assembly of any preceding clause, wherein the intermediate component comprises a roller configured to engage the SMA element.

[0213] Clause 22. The actuator assembly of any preceding clause, wherein the intermediate component comprises a flexure for engaging the SMA element, and optionally, wherein the flexure is compliant in a plane in which the SMA element extends.

[0214] Clause 23. The actuator assembly of any preceding clause, wherein the intermediate component is configured to increase the stroke of the SMA element.

[0215] Clause 24. An actuator assembly comprising:

[0216] a first component, wherein a first axis is defined with reference to said first component;

[0217] a second component, the second component being movable relative to the first component;

[0218] A drive mechanism, comprising a total of four actuating units, each actuating unit comprising:

[0219] a force adjustment mechanism connected to the first component;

[0220] a connecting rod connected between the force adjustment mechanism and the second component; and

[0221] a shape memory alloy (SMA) element coupled to the first component and the force adjustment mechanism for applying an input force to the force adjustment mechanism, thereby causing the force adjustment mechanism to apply an output force to the coupling link, and causing the coupling link to apply an actuation force to the second component, wherein the coupling link is compliant in a direction perpendicular to the direction of the actuation force; and

[0222] Wherein, the actuating unit of the driving mechanism is configured to rotate the second component around the first axis and to rotate the second component around a second axis perpendicular to the first axis.

[0223] Clause 25. An actuator assembly according to clause 24, comprising a support mechanism configured to allow the second component to rotate about the first axis and the second axis, constrain the second component to rotate about a third axis, and constrain the second component to move along the third axis, wherein the third axis is perpendicular to the first axis and the second axis.

[0224] Clause 26. The actuator assembly of clause 24 or clause 25, wherein the four actuating units of the drive mechanism include a first pair of actuating units on a first side of the actuator assembly and a second pair of actuating units on a second side of the actuator assembly opposite the first side.

[0225] Clause 27. The actuator assembly of Clause 26, wherein each of the four actuation units of the drive mechanism provides a force on the second member having a component in the same direction along the first axis.

[0226] Clause 28. The actuator assembly of clause 26 or 27, wherein within each pair of actuation units of the drive mechanism, the SMA elements cross when viewed along a direction perpendicular to the first axis.

[0227] Clause 29. The actuator assembly of any preceding clause, further comprising:

[0228] a third component movable relative to the second component, wherein a fourth axis is defined with reference to the second component;

[0229] An additional drive mechanism is configured to rotate the third component about the fourth axis and to rotate the second component about a fifth axis perpendicular to the fourth axis.

[0230] Clause 30. The actuator assembly of clause 29, wherein the further drive mechanism comprises a total of four actuation units, each actuation unit comprising:

[0231] a force adjustment mechanism connected to the second member;

[0232] a connecting rod connected between the force adjustment mechanism and the third component; and

[0233] an SMA element coupled to the second component and the force adjustment mechanism for applying an input force to the force adjustment mechanism, thereby causing the force adjustment mechanism to apply an output force to the coupling link, and causing the coupling link to apply an actuation force to the third component, wherein the coupling link is compliant in a direction perpendicular to the direction of the actuation force.

[0234] Clause 31. An actuator assembly according to clause 29 or 30, comprising an additional support mechanism, wherein the additional support mechanism is configured to allow the third component to rotate about the fourth axis and the fifth axis, constrain the third component to rotate about the sixth axis, and constrain the second component to move along the sixth axis, wherein the sixth axis is perpendicular to the fourth axis and the fifth axis.

[0235] Clause 32. The actuator assembly of any one of clauses 29 to 31 , wherein each of the four actuation units of the further drive mechanism provides a force on the third component having a component in the same direction along the first axis.

[0236] Clause 33. An actuator assembly according to any one of clauses 29 to 32, wherein the four actuating units of the additional drive mechanism include a first pair of actuating units on a third side of the actuator assembly and a second pair of actuating units on a fourth side of the actuator assembly opposite to the third side.

[0237] Clause 34. The actuator assembly of clause 33 when dependent upon clause 26, wherein the first and second sides of the actuator assembly are adjacent to the third and fourth sides of the actuator assembly.

[0238] Clause 35. The actuator assembly of clause 33 or 34, wherein within each pair of actuation units of the further drive mechanism, the SMA elements cross when viewed along a direction perpendicular to the fourth axis.

[0239] Clause 36. An actuator assembly according to any one of clauses 29 to 35, wherein, at least when the second component is in a specific position relative to the first component and the third component is in a specific position relative to the second component, the first axis and the fourth axis are parallel or collinear, and / or the fifth axis extends in a direction perpendicular to the second axis.

[0240] Clause 37. An actuator assembly according to any one of clauses 29 to 36, wherein the force adjustment mechanism is configured such that in response to a change in the length of the SMA element, the end of the SMA element connected to the force adjustment mechanism moves a first distance relative to the first component, and the end of the connecting link connected to the force adjustment mechanism moves a second distance relative to the first component, the second distance being greater than the first distance.

[0241] Clause 38. An actuator assembly according to any one of clauses 29 to 37, wherein the force adjustment mechanism is configured such that in response to a change in the length of the SMA element, the end of the connecting rod connected to the force adjustment mechanism moves a second distance relative to the first component, the second distance being greater than the change in the length of the SMA element.

[0242] Clause 39. An assembly according to any one of clauses 29 to 38, wherein the connecting link is a flexure, and, optionally, wherein the flexure is elongated and rigid along the length of the flexure and compliant in a direction perpendicular to the length of the flexure.

[0243] Clause 40. The assembly of any one of clauses 29 to 38, wherein the coupling link comprises a ball bearing or a sliding bearing.

[0244] Clause 41. The actuator assembly of any one of clauses 29 to 38, wherein the force adjustment mechanism comprises:

[0245] a movable portion to which the SMA element and the coupling link are connected; and

[0246] A force adjustment flexure is connected between the movable portion and the first component and is configured to flex in response to the input force.

[0247] Clause 42. The actuator assembly of clause 41, wherein the movable portion is integrally formed with the force adjustment flexure and / or the coupling link.

[0248] Clause 43. The actuator assembly of any one of clauses 41 to 42, wherein the force adjustment flexure is elongated and rigid along the length of the force adjustment flexure and compliant in a direction perpendicular to the length of the force adjustment flexure.

[0249] Clause 44. An actuator assembly according to any of the preceding clauses, wherein the second component includes one or more lenses or image sensors, and wherein the first axis is an optical axis of the one or more lenses and / or is perpendicular to a photosensitive area of the image sensor.

[0250] Clause 45. An actuator assembly according to any one of clauses 1 to 43, wherein the third component includes one or more lenses and / or an image sensor, and wherein the fourth axis is the optical axis of the one or more lenses and / or is perpendicular to the photosensitive area of the image sensor.

[0251] Clause 46. The actuator assembly of any preceding clause, wherein the SMA element is an SMA wire.

Claims

1. An actuator assembly comprising: a first component, wherein a first principal axis is defined with reference to said first component; a second component movable relative to the first component, wherein a second principal axis is defined with reference to the second component; a third component, the third component being movable relative to the second component and the first component; a first set of actuating units, each actuating unit of the first set of actuating units being configured to apply an actuating force to the second component capable of tilting the second component relative to the first component about a first tilting axis perpendicular to the first main axis; and a second set of actuating units, each actuating unit of the second set of actuating units being configured to apply an actuating force to the third component capable of tilting the third component relative to the second component about a second tilting axis perpendicular to the second main axis; wherein the first tilt axis and the second tilt axis are non-parallel axes; and in: (i) at least one actuating unit in the first set of actuating units comprises: --Main part; a shape memory alloy (SMA) element connected between the body portion and one of the first component and the second component and configured to apply an input force to the body portion when actuated; and a force adjustment element connected between the main body portion and the one of the first component and the second component and configured to adjust the input force to generate the actuation force; and / or (ii) at least one actuating unit in the second set of actuating units comprises: --Main part; a shape memory alloy (SMA) element connected between the body portion and one of the second component and the third component and configured to apply an input force to the body portion upon actuation; and a force adjustment element connected between the main body portion and the one of the second component and the third component and configured to adjust the input force to generate the actuation force.

2. The actuator assembly according to claim 1, wherein: The at least one actuating unit in the first set of actuating units further comprises: a coupling link connected between the main body portion and the other of the first component and the second component, wherein the coupling link is configured to transmit the actuating force from the main body portion to the other of the first component and the second component, and wherein the coupling link is compliant in a direction perpendicular to the actuating force; and / or Wherein, at least one actuating unit in the second group of actuating units further includes: a connecting rod, which is connected between the main body part and the other part of the second component and the third component, wherein the connecting rod is configured to transmit the actuating force from the main body part to the other part of the second component and the third component, and wherein the connecting rod is flexible in a direction perpendicular to the actuating force.

3. The actuator assembly according to claim 1 or 2, wherein: The first set of actuation units is configured to rotate the second component relative to the first component about the first primary axis.

4. An actuator assembly according to any one of the preceding claims, wherein: The second set of actuation units is configured to rotate the third component relative to the second component about the second primary axis.

5. The actuator assembly according to any one of the preceding claims, comprises a first support mechanism, which is configured to allow the second component to tilt relative to the first component around the first tilt axis and to constrain the second component to tilt relative to the first component around the second tilt axis or an axis parallel to the second tilt axis.

6. The actuator assembly according to claim 5, wherein: The first support mechanism is configured to allow the second component to rotate relative to the first component about the first primary axis.

7. An actuator assembly according to claim 5 or 6, wherein: The first support mechanism is configured to constrain translational movement of the second component relative to the first component.

8. The actuator assembly according to any one of the preceding claims, comprises a second support mechanism, which is configured to allow the third component to tilt relative to the second component around the second tilt axis and to constrain the third component to tilt relative to the second component around the first tilt axis or an axis parallel to the first tilt axis.

9. The actuator assembly of claim 8, wherein: The second support mechanism is configured to allow the third component to rotate relative to the second component about the second primary axis.

10. The actuator assembly according to claim 8 or 9, wherein: The second support mechanism is configured to constrain translational movement of the third component relative to the second component.

11. An actuator assembly according to any one of the preceding claims, wherein: each actuation unit of the first set of actuation units being configured to exert on the second component a force having a component in a first direction along the first principal axis; And / or wherein each actuation unit of the second set of actuation units is configured to exert on the third component a force having a component in a first direction along the second main axis.

12. The actuator assembly of claim 11, wherein: a force component in the first direction along the first principal axis configured to urge the first member and the second member toward each other; And the force component in the first direction along the second principal axis is configured to urge the second component and the third component toward each other.

13. An actuator assembly according to claim 11 or 12, wherein: The first direction is a substantially opposite direction.

14. An actuator assembly according to any one of the preceding claims, wherein: (i) the first group of actuation units includes a total of four actuation units; and / or (ii) the second group of actuation units includes a total of four actuation units.

15. An actuator assembly according to any one of the preceding claims, wherein: The first group of actuating units includes half of the actuating units on a first side of the actuator assembly and the other half of the actuating units on a second side of the actuator assembly opposite to the first side; and / or the second group of actuating units includes half of the actuating units on a third side of the actuator assembly and the other half of the actuating units on a fourth side of the actuator assembly opposite to the third side.

16. The actuator assembly of claim 14, wherein: Each half comprises a first actuating unit configured to exert on the second component a force having a component in a second direction in a plane perpendicular to the first main axis and / or the second main axis, and a second actuating unit configured to exert on the second component a force having a component in a third direction in a plane perpendicular to the first main axis and / or the second main axis; wherein the second direction and the third direction are opposite directions.

17. An actuator assembly according to any one of the preceding claims, wherein: The third component includes an electronic component.

18. An actuator assembly according to any one of the preceding claims, wherein: The third component includes one or more lenses and / or image sensors.

19. An actuator assembly comprising: a first component, wherein a primary axis is defined with reference to said first component; a second component, the second component being movable relative to the first component; a plurality of actuating units, each actuating unit being configured to apply an actuating force to the second component, the actuating force being capable of tilting the second component relative to the first component about a first axis perpendicular to the main axis; and a support mechanism configured to allow the second component to tilt relative to the first component about the first axis; and Wherein, at least one of the actuating units comprises: --Main part; a shape memory alloy (SMA) element connected between the body portion and the first component and configured to apply an input force to the body portion upon actuation; and a force adjustment element connected between the main body portion and the first component and configured to adjust the input force to generate the actuation force.

20. The actuator assembly of claim 19, wherein: The at least one actuating unit further comprises: A coupling link is connected between the main body portion and the second component, wherein the coupling link is configured to transmit the actuation force from the main body portion to the second component, and wherein the coupling link is compliant in a direction perpendicular to the actuation force.

21. An actuator assembly according to claim 19 or 20, wherein: The support mechanism is configured to constrain tilting of the second component relative to the first component about a second axis that is perpendicular to the main axis and the first axis.

22. An actuator assembly according to any one of claims 19 to 21, wherein: The support mechanism is configured to allow the second component to rotate relative to the first component about the primary axis.

23. An actuator assembly according to any one of claims 19 to 22, wherein: The support mechanism is configured to constrain translational movement of the second component relative to the first component.

24. An actuator assembly according to any one of claims 19 to 23, wherein: The actuation unit is configured to rotate the second component relative to the first component about the main axis.

25. An actuator assembly according to any one of claims 19 to 24, wherein: Each actuation unit is configured to exert on the second part a force having a component in a first direction along the main axis.

26. An actuator assembly according to any one of claims 19 to 25, wherein: The plurality of actuating units includes a total of four actuating units.

27. An actuator assembly according to any one of claims 19 to 26, wherein: The plurality of actuation units includes half of the actuation units on a first side of the actuator assembly and another half of the actuation units on a second side of the actuator assembly opposite the first side.

28. The actuator assembly of claim 27, wherein: Each half includes: a first actuation unit, which is configured to apply a force on the second component having a component in a second direction in a plane perpendicular to the main axis, and a second actuation unit, which is configured to apply a force having a component in a third direction in a plane perpendicular to the main axis; wherein the second direction and the third direction are opposite directions.

29. An actuator assembly according to any one of claims 19 to 28, wherein: The second component includes an electronic component.

30. An actuator assembly according to any one of claims 19 to 29, wherein: The second component includes one or more lenses and / or image sensors.

31. An actuator assembly according to any one of the preceding claims, wherein: The force adjustment element and the body portion of the at least one actuation unit are configured to amplify or reduce the magnitude of a mechanical quantity provided by the SMA element upon actuation.

Images