Actuator assembly

Abstract

The invention discloses an actuator assembly. Comprising a first component, a second component movable relative to the first component, a support arrangement, a first SMA (Shape Memory Alloy) actuation unit and a second SMA actuation unit configured to apply respective first and second forces to a first side of the second component, and third and fourth SMA actuation units configured to apply respective third and fourth forces to a second side of the second component. The first force and the second force enable the second part to rotate relative to the first part in a first direction around a first axis, and the third force and the fourth force enable the second part to rotate relative to the first part in a second opposite direction around the first axis. Each of the first and third forces has a component in a first direction along the second axis, and each of the second and fourth forces has a component in a second, opposite direction along the second axis.

Description

field

[0001] This application relates to an actuator assembly comprising a plurality of SMA (shape memory alloy) actuation units adapted, for example, to move optical components (such as a camera module including an image sensor and / or lens assembly) relative to a support structure. background

[0002] This application relates to an SMA actuator. SMA actuators have various applications and, for example, can be used to provide optical image stabilization (OIS) in compact cameras used in smartphones and other electronic devices. For example, WO2011 / 104518A1 describes an actuator with eight SMA lines that enables a camera module (including a set of lenses and an image sensor) to rotate about three vertical axes to provide OIS. WO2021 / 209770A1 describes an actuator with, for example, four SMA lines and a support structure that enables a camera module to rotate about two axes perpendicular to the main axis. Overview

[0003] According to a first aspect of the invention, an actuator assembly is provided, comprising: a first component having a first main axis defined with reference to the first component; a second component movable relative to the first component, having a second main axis defined with reference to the second component, a first axis perpendicular to the first main axis and extending through a first side and a second side of the second component, and a second axis perpendicular to the first main axis and the first axis; a support arrangement that allows the second component to rotate relative to the first component about the first axis, and also allows the second component to move at least partially along the second axis and / or rotate relative to the first component about the first main axis; and a first SMA (shape memory alloy) actuation unit and a second SMA actuation unit, wherein the first SMA actuation unit... The actuator unit and the second SMA actuator unit are configured to apply corresponding first and second forces to a first side of the second component; and the third SMA actuator unit and the fourth SMA actuator unit are configured to apply corresponding third and fourth forces to a second side of the second component; wherein the first and second forces enable the second component to rotate relative to the first component about a first axis in a first direction, and the third and fourth forces enable the second component to rotate relative to the first component about a second opposite direction about the first axis, each of the first and third forces having a (force) component along the second axis in a first direction, and each of the second and fourth forces having a (force) component along the second axis in a second opposite direction.

[0004] Therefore, the actuator assembly belongs to a type in which the actuation unit is configured to rotate the second (movable) component about the rotation axis by applying a force to one side of the second component through which the rotation axis extends. This configuration can be advantageous because it allows the force to be applied at a location relatively close to the rotation axis, and thus the amount of rotation per unit actuation is relatively large.

[0005] The first and second forces can each, and / or together, cause the second component to rotate relative to the first component about the first axis in a first direction. The third and fourth forces can each, and / or together, cause the second component to rotate relative to the first component about the first axis in a second opposite direction.

[0006] Furthermore, in this actuator assembly, the actuating units can be actuated such that they together produce a desired amount of rotation about a first axis, while also acting at least partially in the opposite direction along a second axis, and thus enabling position control along the second axis. This can be particularly important in actuator assemblies where the support arrangement does not provide position control along the second axis, for example, because the support arrangement is configured, as described herein, to allow the second component to rotate about the main axis. Without such position control, the performance of the actuator assembly can be negatively affected. For example, not all actuation can be converted into rotation, thus reducing the range of useful movement. Moreover, if the distance between the first and second forces and the axis of rotation (and therefore the amount of rotation per unit actuation) is unknown and / or variable, the ability to control rotation may be impaired or lost.

[0007] Optionally, each of the first, second, third, and / or fourth forces is substantially parallel to the second axis.

[0008] Optionally, each of the first force, the second force, the third force and / or the fourth force has a (force) component along the first principal axis in a first direction (i.e., in the same direction).

[0009] Optionally, a load is applied to the support arrangement in a (force) component along a first direction of the first main axis (e.g., over the entire range of movement of the second component relative to the first component).

[0010] Optionally, the first force and the second force are applied at corresponding first and second points on the first side, and the first and second points have substantially the same position along the second axis as the point where the first axis intersects the first side.

[0011] Optionally, the third and fourth forces are applied at corresponding third and fourth points on the second side, and the third and fourth points have substantially the same positions along the second axis as the points where the first axis intersects the second side.

[0012] Optionally, within the entire rotational movement range of the second component relative to the first component (e.g., the rotational movement range in which the second component is configured to move relative to the first component via the first SMA actuation unit, the second SMA actuation unit, the third SMA actuation unit, and the fourth SMA actuation unit), the points where the first force and the second force are applied to the second component are equidistant from the first axis.

[0013] Optionally, the points where the third and fourth forces are applied to the second component are equidistant from the first axis during the entire rotational movement range of the second component relative to the first component (e.g., the rotational movement range during which the second component is configured to move relative to the first component via the first SMA actuation unit, the second SMA actuation unit, the third SMA actuation unit, and the fourth SMA actuation unit).

[0014] Optionally, the distance between the first axis and the point where the first and second forces are applied to the second component remains substantially constant throughout the entire rotational movement range of the second component relative to the first component (e.g., the rotational movement range in which the second component is configured to move relative to the first component via the first SMA actuation unit, the second SMA actuation unit, the third SMA actuation unit, and the fourth SMA actuation unit). Therefore, the amount of rotation per unit actuation remains substantially constant, thus allowing for more efficient control of the actuation unit.

[0015] Optionally, the distance between the first axis and the point where the third and fourth forces are applied to the second component remains substantially constant throughout the entire rotational movement range of the second component relative to the first component (e.g., the rotational movement range in which the second component is configured to move relative to the first component via the first SMA actuation unit, the second SMA actuation unit, the third SMA actuation unit, and the fourth SMA actuation unit). Therefore, the amount of rotation per unit actuation remains substantially constant, thus allowing for more efficient control of the actuation units.

[0016] The aforementioned "rotational range of motion" may refer to the range of rotation of the second component relative to the first component around the first axis, and optionally to the range of rotation around the first main axis.

[0017] Optionally, the support arrangement includes a first support element positioned on (i.e., on or near) a first side of the second component and a second support element positioned on (i.e., on or near) a second side of the second component.

[0018] Optionally, each support element is a rolling element (e.g., a ball bearing) that interacts with the support surfaces associated with the first and second components to guide the second component to rotate relative to the first component about a first axis, and to guide the movement of the second component relative to the first component at least partially along a second axis and / or the rotation of the second component relative to the first component about a first main axis.

[0019] Optionally, each SMA actuation unit includes one or more SMA elements.

[0020] Optionally, the actuator assembly includes only two SMA actuation units (i.e., a first SMA actuation unit and a second SMA actuation unit) that apply force to a first side of the second component, and only two SMA actuation units (i.e., a third SMA actuation unit and a fourth SMA actuation unit) that apply force to a second side of the second component.

[0021] Optionally, the first SMA actuation unit, the second SMA actuation unit, the third SMA actuation unit, and the fourth SMA actuation unit are configured to rotate the second component relative to the first component about a first main axis (e.g., in two directions) during selective actuation.

[0022] Optionally, the first SMA actuation unit, the second SMA actuation unit, the third SMA actuation unit, and the fourth SMA actuation unit are configured to move the second component at least partially relative to the first component along the second axis during selective actuation.

[0023] Optionally, the second axis extends through the third and fourth sides of the second component; the support arrangement allows the second component to rotate relative to the first component about the second axis, and allows the second component to move at least partially along the first axis and / or rotate relative to the first component about the first main axis; and the actuator assembly further includes: a fifth SMA actuation unit and a sixth SMA actuation unit, the fifth SMA actuation unit and the sixth SMA actuation unit being configured to apply a corresponding fifth force and a sixth force to the third side of the second component; and a seventh SMA actuation unit and an eighth SMA actuation unit, the seventh SMA actuation unit and the eighth SMA actuation unit being configured to apply a corresponding seventh force and an eighth force to the fourth side of the second component; wherein the fifth force and the sixth force enable the second component to rotate relative to the first component about the second axis in a first direction, and the seventh force and the eighth force enable the second component to rotate relative to the first component about the second axis in a second opposite direction, each of the fifth force and the seventh force having a (force) component along the first axis in a first direction, and each of the sixth force and the eighth force having a (force) component along the first axis in a second opposite direction.

[0024] The fifth and sixth forces can each, and / or together, cause the second component to rotate relative to the first component about the second axis in the first direction. The seventh and eighth forces can each, and / or together, cause the second component to rotate relative to the first component about the second axis in the second opposite direction.

[0025] Optionally, each of the fifth, sixth, seventh, and / or eighth forces is substantially parallel to the first axis.

[0026] Optionally, each of the fifth, sixth, seventh, and / or eighth forces has a (force) component along the first principal axis in a first direction (i.e., in the same direction). The first direction mentioned above with respect to the first, second, third, and / or fourth forces may correspond to this first direction.

[0027] Optionally, a load is applied to the support arrangement in a (force) component along a first direction of the first main axis (e.g., over the entire range of movement of the second component relative to the first component).

[0028] Optionally, the fifth and sixth forces are applied at corresponding fifth and sixth points on the third side, and the fifth and sixth points have substantially the same positions along the first axis as the points where the second axis intersects the third side.

[0029] Optionally, the seventh and eighth forces are applied at corresponding seventh and eighth points on the fourth side, and the seventh and eighth points have substantially the same positions along the first axis as the points where the second axis intersects the fourth side.

[0030] Optionally, the points where the fifth and sixth forces are applied to the second component remain equidistant from the second axis throughout the entire rotational movement range of the second component relative to the first component (i.e., the rotational movement range of the second component configured to move relative to the first component via the SMA actuation unit).

[0031] Optionally, the points where the seventh and eighth forces are applied to the second component remain equidistant from the second axis throughout the entire rotational movement range of the second component relative to the first component (i.e., the rotational movement range of the second component configured to move relative to the first component via the SMA actuation unit).

[0032] Optionally, the distance between the second axis and the point where the fifth and sixth forces are applied to the second component remains substantially constant throughout the entire rotational movement range of the second component relative to the first component (e.g., the rotational movement range in which the second component is configured to move relative to the first component via the SMA actuation unit). Therefore, the amount of rotation per unit actuation remains substantially constant, thus allowing for more efficient control of the actuation unit.

[0033] Optionally, the distance between the second axis and the point where the seventh and eighth forces are applied to the second component remains substantially constant throughout the entire rotational movement range of the second component relative to the first component (e.g., the rotational movement range in which the second component is configured to move relative to the first component via the SMA actuation unit). Therefore, the amount of rotation per unit actuation remains substantially constant, thus allowing for more efficient control of the actuation unit.

[0034] The aforementioned "rotational range of motion" may refer to the range of rotation of the second component relative to the first component around the second axis, and optionally to the range of rotation around the first main axis.

[0035] Optionally, the support arrangement includes a third support element positioned on (i.e., on or near) the third side of the second component and a fourth support element positioned on (i.e., on or near) the fourth side of the second component.

[0036] Optionally, each of the third and fourth support elements is a rolling element (e.g., a ball bearing) that interacts with the support surfaces associated with the second and intermediate components (also referred to herein as “universal joint components”) to guide the second component to rotate relative to the first component about a second axis, and to guide the second component to move at least partially relative to the first component along a first axis and / or to rotate relative to the first component about a first main axis.

[0037] Optionally, each SMA actuation unit includes one or more SMA elements.

[0038] Optionally, the actuator assembly includes only two SMA actuation units (i.e., the fifth SMA actuation unit and the sixth SMA actuation unit) that apply force to the third side of the second component, and only two SMA actuation units (i.e., the seventh SMA actuation unit and the eighth SMA actuation unit) that apply force to the fourth side of the second component.

[0039] Optionally, the fifth, sixth, seventh, and eighth SMA actuation units are configured to rotate the second component relative to the first component about a first main axis (e.g., in two directions) during selective actuation.

[0040] Optionally, the fifth SMA actuation unit, the sixth SMA actuation unit, the seventh SMA actuation unit, and the eighth SMA actuation unit are configured to move the second component at least partially relative to the first component along the first axis during selective actuation.

[0041] Optionally, the actuator assembly includes: a third component movable relative to the second component, having a third axis perpendicular to the second main axis and extending through a third and a fourth side of the third component, and a fourth axis perpendicular to the second main axis and the third axis; a second support arrangement allowing the third component to rotate relative to the second component about the third axis, and also allowing the third component to move at least partially along the fourth axis relative to the second component and / or rotate relative to the third component about the second main axis; and a fifth SMA actuation unit and a sixth SMA actuation unit, the fifth SMA actuation unit and the sixth SMA actuation unit being configured to move towards the third component's third axis. The third component is provided with a fifth and a sixth force; and a seventh and an eighth SMA actuation unit, which are configured to apply a seventh and an eighth force to the fourth side of the third component; wherein the fifth and sixth forces enable the third component to rotate relative to the second component about the third axis in a first direction, and the seventh and eighth forces enable the third component to rotate relative to the second component about the third axis in a second opposite direction, each of the fifth and seventh forces having a force component along the fourth axis in a first direction, and each of the sixth and eighth forces having a force component along the fourth axis in a second opposite direction.

[0042] The fifth and sixth forces can each, and / or together, cause the third component to rotate relative to the second component about the third axis in the first direction. The seventh and eighth forces can each, and / or together, cause the third component to rotate relative to the second component about the third axis in the second opposite direction.

[0043] Optionally, each of the fifth, sixth, seventh, and / or eighth forces is substantially parallel to the fourth axis.

[0044] Optionally, each of the fifth, sixth, seventh, and / or eighth forces has a (force) component along the second principal axis in a first direction (i.e., in the same direction). When the first and second principal axes are aligned, the first direction along the second principal axis may be in the same or opposite direction as the first direction along the first principal axis mentioned above with respect to the first, second, third, and / or fourth forces.

[0045] Optionally, a load is applied to the second support arrangement in the (force) component along the second main axis in a first direction.

[0046] Optionally, the fifth and sixth forces are applied at corresponding fifth and sixth points on the third side, and the fifth and sixth points along the fourth axis have substantially the same positions as the points where the third axis intersects with the third side.

[0047] Optionally, the seventh and eighth forces are applied at corresponding seventh and eighth points on the fourth side, and the seventh and eighth points along the fourth axis have substantially the same positions as the points where the third axis intersects the fourth side.

[0048] Optionally, the points where the fifth and sixth forces are applied to the third component are equidistant from the third axis throughout the entire rotational movement range of the third component relative to the second component (i.e., the rotational movement range in which the third component is configured to move relative to the second component).

[0049] Optionally, the points where the seventh and eighth forces are applied to the third component are equidistant from the third axis throughout the entire rotational movement range of the third component relative to the second component (i.e., the rotational movement range in which the third component is configured to move relative to the second component).

[0050] Optionally, the distance between the third axis and the points where the fifth and sixth forces are applied to the third component remains substantially constant throughout the entire rotational movement range of the third component relative to the second component (i.e., the rotational movement range in which the third component is configured to move relative to the second component). Therefore, the amount of rotation per unit actuation remains substantially constant, thus allowing for more efficient control of the actuation unit.

[0051] Optionally, the distance between the third axis and the point where the seventh and eighth forces are applied to the third component remains substantially constant throughout the entire rotational movement range of the third component relative to the second component (i.e., the rotational movement range in which the third component is configured to move relative to the second component). Therefore, the amount of rotation per unit actuation remains substantially constant, thus allowing for more efficient control of the actuation unit.

[0052] The aforementioned "rotational range of the third component" may refer to the range of rotation of the third component relative to the second component about a third axis, and optionally the range of rotation about a second main axis.

[0053] Optionally, the second support arrangement includes a third support element positioned on a third side of the third component (i.e., on or near the third side) and a fourth support element positioned on a fourth side of the third component (i.e., on or near the fourth side).

[0054] Optionally, each of the third and fourth support elements is a rolling element (e.g., a ball bearing) that interacts with the support surfaces associated with the second and third components to guide the third component to rotate relative to the second component about a third axis, and to guide the third component to move relative to the second component at least partially along a fourth axis and / or rotate relative to the second component about a second main axis.

[0055] Optionally, each SMA actuation unit includes one or more SMA elements.

[0056] Optionally, the actuator assembly includes only two SMA actuation units (i.e., the fifth SMA actuation unit and the sixth SMA actuation unit) that apply force to the third side of the third component, and only two SMA actuation units (i.e., the seventh SMA actuation unit and the eighth SMA actuation unit) that apply force to the fourth side of the third component.

[0057] Optionally, the fifth, sixth, seventh, and eighth SMA actuation units are configured to rotate the third component relative to the second component about the second main axis (e.g., in both directions) during selective actuation.

[0058] Optionally, the fifth SMA actuation unit, the sixth SMA actuation unit, the seventh SMA actuation unit, and the eighth SMA actuation unit are configured to move the third component at least partially relative to the second component along the fourth axis during selective actuation.

[0059] Optionally, the first axis and the third axis are not parallel.

[0060] Optionally, the first side, second side, third side, and fourth side are arranged in a ring around the first main axis. The first side and the second side can be opposite sides. The third side and the fourth side can be opposite sides.

[0061] According to another aspect of the present invention, a method for controlling the aforementioned actuator assembly is provided, the method comprising: actuating a first actuation unit, a second actuation unit, a third actuation unit and / or a fourth actuation unit to cause a second component to rotate relative to a first component about a first axis, while controlling the position of the second component relative to the first component along a second axis and / or the rotation of the second component relative to the first component about a first main axis.

[0062] Optionally, the method includes actuating a first actuation unit, a second actuation unit, a third actuation unit, and / or a fourth actuation unit to cause the second component to rotate relative to the first component about a first main axis.

[0063] Optionally, the method includes actuating a fifth actuation unit, a sixth actuation unit, a seventh actuation unit, and / or an eighth actuation unit to rotate the second component relative to the first component about a second axis, while controlling the position of the second component relative to the first component along a first axis and / or the rotation of the second component relative to the first component about a first main axis.

[0064] Optionally, the method includes actuating a fifth actuation unit, a sixth actuation unit, a seventh actuation unit, and / or an eighth actuation unit to cause the second component to rotate relative to the first component about a first main axis.

[0065] Optionally, the method includes actuating a fifth actuation unit, a sixth actuation unit, a seventh actuation unit, and / or an eighth actuation unit to rotate a third component relative to a second component about a third axis, while controlling the position of the third component relative to the second component along a fourth axis and / or the rotation of the third component relative to the second component about a second main axis.

[0066] Optionally, the method includes actuating a fifth actuation unit, a sixth actuation unit, a seventh actuation unit, and / or an eighth actuation unit to cause the third component to rotate relative to the second component about a second main axis.

[0067] According to another aspect of the invention, an actuator assembly is provided, comprising: a first component having a first main axis defined with reference to the first component; a second component movable relative to the first component having a second main axis defined with reference to the second component; a first pair of SMA actuation units (i.e., a first SMA actuation unit and a second SMA actuation unit) configured to apply torque to a first side of the second component to drive the second component to rotate relative to the first component about a first inclined axis (also referred to herein as the "first axis") in a first direction, wherein the first inclined axis is perpendicular to the first main axis; and a second pair of SMA actuation units (i.e., a third SMA actuation unit and a fourth SMA actuation unit) configured to apply torque to a second side of the second component to drive the second component to rotate. The second component rotates relative to the first component about a first inclined axis in a second opposite direction; wherein the first side and the second side are opposite sides through which the first inclined axis extends; wherein only the first pair of SMA actuation units are configured to apply torque to the first side to cause the second component to rotate relative to the first component about the first inclined axis, and only the second pair of actuation units are configured to apply torque to the second side to cause the second component to rotate relative to the first component about the first inclined axis; wherein each SMA actuation unit is configured to apply a force to the second component in a direction perpendicular to the first main axis, or is configured to apply a force having a force component in a first direction parallel to the first main axis (i.e., in the same direction) (e.g., over the entire range of movement of the second component relative to the first component).

[0068] Optionally, the actuator assembly includes a first support arrangement configured to allow the second component to rotate relative to the first component about a first tilt axis, and to constrain the second component to rotate relative to the first component about an axis perpendicular to the first main axis and not parallel to the first tilt axis (e.g., the second tilt axis mentioned below, or an axis parallel to the second tilt axis).

[0069] Optionally, the actuator assembly includes: a third component movable relative to the second component; a third plurality of SMA actuation units (e.g., a fifth and a sixth SMA actuation unit), each SMA actuation unit configured to apply torque to a third side of the third component to drive the third component to rotate relative to the second component about a second inclined axis (also referred to herein as the "third axis") in a first direction, wherein the second inclined axis is perpendicular to the second main axis and not parallel to the first inclined axis; a fourth plurality of SMA actuation units (e.g., a seventh and an eighth SMA actuation unit), each SMA actuation unit configured to apply torque to a fourth side of the third component to drive the third component to rotate relative to the second component about a second inclined axis in a second opposite direction; and wherein the third side and the fourth side are opposite sides through which the second inclined axis extends.

[0070] Optionally, the actuator assembly includes a second support arrangement configured to allow a third component to rotate relative to the second component about a second tilt axis and to constrain the third component to rotate relative to the second component about a first tilt axis or an axis parallel to the first tilt axis.

[0071] Optionally, only a third plurality of SMA actuation units are configured to apply torque to the third component to cause the third component to rotate relative to the second component about the second tilt axis; and only a fourth plurality of SMA actuation units are configured to apply torque to the third component to cause the third component to rotate relative to the second component about the second tilt axis.

[0072] Optionally, each of the third plurality of SMA actuation units and the fourth plurality of SMA actuation units is configured to apply a force to the third component in a direction perpendicular to the second main axis, or to apply a force to the third component having a force component in a first direction parallel to the second main axis (i.e., in the same direction) (e.g., over the entire range of movement of the third component relative to the second component).

[0073] Optionally, the actuator assembly includes: a third plurality of SMA actuation units (e.g., a fifth SMA actuation unit and a sixth SMA actuation unit), each SMA actuation unit being configured to apply torque to a third side of the second component to drive the second component to rotate relative to the first component about a second inclined axis (also referred to herein as the "second axis") in a first direction, wherein the second inclined axis is perpendicular to the first main axis and not parallel to the first inclined axis; a fourth plurality of SMA actuation units (e.g., a seventh SMA actuation unit and an eighth SMA actuation unit), each SMA actuation unit being configured to apply torque to a fourth side of the second component to drive the second component to rotate relative to the first component about the second inclined axis in a second opposite direction; and wherein the third side and the fourth side are opposite sides through which the second inclined axis extends.

[0074] Optionally, the actuator assembly includes a support arrangement configured to allow the second component to rotate relative to the first component about a first tilt axis and a second tilt axis.

[0075] Optionally, only a third or more SMA actuation units are configured to apply torque to the second component to cause the second component to rotate relative to the first component about the second tilt axis; and only a fourth or more SMA actuation units are configured to apply torque to the second component to cause the second component to rotate relative to the first component about the second tilt axis.

[0076] Optionally, each of the third plurality of SMA actuation units and the fourth plurality of SMA actuation units is configured to apply a force to the second component in a direction perpendicular to the first main axis, or to apply a force to the second component having a force component in a first direction parallel to the first main axis (e.g., over the entire range of movement of the second component relative to the first component).

[0077] Optionally, the third plurality of SMA actuation units includes a total of two SMA actuation units, and the fourth plurality of SMA actuation units includes a total of two SMA actuation units.

[0078] Optionally, when viewed along the first tilt axis, the force applied by the first pair of SMA actuation units is above and below the first tilt axis.

[0079] Alternatively, when viewed along the first tilt axis, the force applied by the second pair of SMA actuators is above and below the first tilt axis.

[0080] Alternatively, when viewed along the first inclined axis, the axes of the forces applied by the first pair of SMA actuators do not intersect (do not cross each other) within the footprint of the actuator assembly.

[0081] Alternatively, when viewed along the first tilt axis, the axes of the forces applied by the second pair of SMA actuators do not intersect (do not cross each other) within the coverage area of ​​the actuator assembly.

[0082] Alternatively, when viewed along the first tilt axis, the SMA elements that constitute part of the first pair of SMA actuation units do not intersect (do not cross each other).

[0083] Alternatively, when viewed along the first tilt axis, the SMA elements that constitute part of the second pair of SMA actuation units do not intersect (do not cross each other).

[0084] Alternatively, when viewed along the second tilt axis, the forces applied by the third plurality of SMA actuation units are above and below the second tilt axis.

[0085] Alternatively, when viewed along the second tilt axis, the forces applied by the fourth plurality of SMA actuation units are above and below the second tilt axis.

[0086] Alternatively, when viewed along the second inclined axis, the axes of the forces applied by the third plurality of SMA actuators do not intersect (do not cross each other) within the coverage area of ​​the actuator assembly.

[0087] Alternatively, when viewed along the second tilt axis, the axes of the forces applied by the fourth plurality of SMA actuators do not intersect (do not cross each other) within the coverage area of ​​the actuator assembly.

[0088] Alternatively, when viewed along the second tilt axis, the SMA elements that constitute part of the third plurality of SMA actuation units do not intersect (do not cross each other).

[0089] Alternatively, when viewed along the second tilt axis, the SMA elements that constitute part of the fourth plurality of SMA actuation units do not intersect (do not cross each other). Brief description of the attached diagram

[0090] Some embodiments of the invention will now be described by way of example only with reference to the accompanying drawings, in which: Figure 1 This is a schematic perspective view of the actuator assembly; Figure 2 This is a schematic perspective view of the actuator assembly; Figure 3 This is a schematic side view of the actuator assembly; Figure 4 This is a schematic side view of the actuator assembly; Figure 5 This is a schematic perspective view of the actuator assembly; Figure 6This is a schematic cross-sectional side view of the actuator assembly. Detailed description

[0091] Figures 1 to 4 For example Figures 1 to 4 As shown, according to a first aspect of the invention, an actuator assembly is provided, comprising: a first component 10 having a first main axis Z defined with reference to the first component 10; a second component 100 movable relative to the first component 10, having a second main axis P defined with reference to the second component 100, a first axis Y perpendicular to the first main axis Z and extending through a first side and a second side of the second component 100, and a second axis X perpendicular to the first main axis Z and the first axis Y; support arrangements 41, 42 allowing the second component 100 to rotate relative to the first component 10 about the first axis Y, and also allowing the second component 100 to move at least partially along the second axis X and / or rotate relative to the first component 10 about the first main axis Z; and a first SMA (shape memory alloy) actuation unit 31 and a second SMA (shape memory alloy) actuation unit 31. Actuation unit 32, first SMA actuation unit 31 and second SMA actuation unit 32 are configured to apply corresponding first force and second force to a first side of second component 100; and third SMA actuation unit 33 and fourth SMA actuation unit 34 are configured to apply corresponding third force and fourth force to a second side of second component 100; wherein the first force and second force enable second component 100 to rotate relative to first component 10 in a first direction about a first axis Y, and the third force and fourth force enable second component 100 to rotate relative to first component 10 in a second opposite direction about a first axis Y, each of the first force and third force having a (force) component along the second axis X in a first direction, and each of the second force and fourth force having a (force) component along the second axis X in a second opposite direction.

[0092] The first and second forces can each, and / or together, cause the second component 100 to rotate relative to the first component 10 in a first direction about the first axis Y. The third and fourth forces can each, and / or together, cause the second component 100 to rotate relative to the first component 10 in a second opposite direction about the first axis Y.

[0093] like Figures 1 to 4As shown, each of the first SMA actuation unit 31, the second SMA actuation unit 32, the third SMA actuation unit 33, and the fourth SMA actuation unit 34 may include SMA elements 31, 32, 33, and 34 (configured to contract when actuated, i.e. heated by passing current through the SMA element), which are fixed to the first component 10 at first ends 31S, 32S, 33S, and 34S and fixed to the second component 100 at second ends 31M, 32M, 33M, and 34M.

[0094] Optionally, such as Figures 1 to 4 As shown, each of the first, second, third, and / or fourth forces is substantially parallel to the second axis X.

[0095] Optionally, such as Figure 3 As shown, each of the first force, the second force, the third force and / or the fourth force has a (force) component along the first principal axis Z in the first direction (i.e., in the same direction).

[0096] Optionally, such as Figure 3 As shown, the load is applied to the support arrangements 41, 42 in a first direction along the first main axis Z (e.g., over the entire range of movement of the second component 100 relative to the first component 10).

[0097] Optionally, such as Figure 4 As shown, the first force and the second force are applied at corresponding first and second points on the first side, and the first and second points have substantially the same position along the second axis X as the point where the first axis Y intersects the first side.

[0098] Optionally, the third and fourth forces are applied at corresponding third and fourth points on the second side, wherein the third and fourth points along the second axis X have substantially the same positions as the points where the first axis Y intersects the second side.

[0099] Optionally, within the entire rotational movement range of the second component 100 relative to the first component 10 (e.g., the rotational movement range in which the second component 100 is configured to move relative to the first component 10 through the first SMA actuation unit 31, the second SMA actuation unit 32, the third SMA actuation unit 33, and the fourth SMA actuation unit 34), the points where the first force and the second force are applied to the second component 100 are equidistant from the first axis Y.

[0100] Optionally, within the entire rotational movement range of the second component 100 relative to the first component 10 (e.g., the rotational movement range in which the second component 100 is configured to move relative to the first component 10 through the first SMA actuation unit 31, the second SMA actuation unit 32, the third SMA actuation unit 33, and the fourth SMA actuation unit 34), the points where the third force and the fourth force are applied to the second component 100 are equidistant from the first axis Y.

[0101] Optionally, the distance between the first axis Y and the point where the first and second forces are applied to the second component 100 remains substantially constant throughout the entire rotational movement range of the second component 100 relative to the first component 10 (e.g., the rotational movement range in which the second component 100 is configured to move relative to the first component 10 via the first SMA actuation unit 31, the second SMA actuation unit 32, the third SMA actuation unit 33, and the fourth SMA actuation unit 34). Therefore, the amount of rotation per unit actuation remains substantially constant, thus allowing for more efficient control of the actuation units.

[0102] Optionally, the distance between the first axis Y and the points where the third and fourth forces are applied to the second component 100 remains substantially constant throughout the entire rotational movement range of the second component 100 relative to the first component 10 (e.g., the rotational movement range in which the second component 100 is configured to move relative to the first component 10 via the first SMA actuation unit 31, the second SMA actuation unit 32, the third SMA actuation unit 33, and the fourth SMA actuation unit 34). Therefore, the amount of rotation per unit actuation remains substantially constant, thus allowing for more efficient control of the actuation units.

[0103] Optionally, the support arrangements 41, 42 include a first support element 41 positioned on (i.e., on or near) a first side of the second component 100 and a second support element 42 positioned on (i.e., on or near) a second side of the second component 100.

[0104] The aforementioned "rotational range of motion" may refer to the range of rotation of the second component 100 relative to the first component 10 around the first axis Y, and optionally to the range of rotation around the first main axis Z.

[0105] Optionally, each support element 41, 42 is a rolling element (e.g., a ball bearing) that interacts with the support surfaces associated with the first component 10 and the second component 100 to guide the second component 100 to rotate relative to the first component 10 about a first axis Y, and to guide the second component 100 to move at least partially relative to the first component 10 along a second axis X and / or to rotate relative to the first component 10 about a first main axis Z.

[0106] Optionally, each of the SMA actuation units 31-34 includes one or more SMA elements 31-34.

[0107] Optionally, the actuator assembly includes only two SMA actuation units (i.e., first SMA actuation unit 31 and second SMA actuation unit 32) that apply force to a first side of the second component 100, and only two SMA actuation units (i.e., third SMA actuation unit 33 and fourth SMA actuation unit 34) that apply force to a second side of the second component 100.

[0108] Optionally, the first SMA actuation unit 31, the second SMA actuation unit 32, the third SMA actuation unit 33 and the fourth SMA actuation unit 34 are configured to rotate the second component 100 relative to the first component 10 about the first main axis Z (e.g., in two directions) during selective actuation.

[0109] Optionally, the first SMA actuation unit 31, the second SMA actuation unit 32, the third SMA actuation unit 33 and the fourth SMA actuation unit 34 are configured to move the second component 100 at least partially relative to the first component 10 along the second axis X during selective actuation.

[0110] Figure 5 like Figure 5 As shown, additional SMA actuation units 35-38 can be provided for, for example, rotating the second component 100 relative to the first component 10 about the second axis X.

[0111] Optionally, such as Figure 5As shown, the second axis X extends through the third and fourth sides of the second component 100; the support arrangement allows the second component 100 to rotate relative to the first component 10 about the second axis X, and allows the second component 100 to move at least partially along the first axis Y and / or rotate relative to the first component about the first main axis Z; and the actuator assembly further includes: a fifth SMA actuation unit 35 and a sixth SMA actuation unit 36, the fifth SMA actuation unit 35 and the sixth SMA actuation unit 36 ​​being configured to apply corresponding fifth and sixth forces to the third side of the second component 100; and a seventh SMA actuation unit 37 and an eighth SMA actuation unit 38. Actuation unit 38, seventh SMA actuation unit 37 and eighth SMA actuation unit 38 are configured to apply corresponding seventh and eighth forces to the fourth side of the second component 100; wherein the fifth and sixth forces enable the second component 100 to rotate relative to the first component 10 about the second axis X in a first direction, and the seventh and eighth forces enable the second component 100 to rotate relative to the first component 10 about the second axis X in a second opposite direction, each of the fifth and seventh forces having a (force) component along the first axis Y in a first direction, and each of the sixth and eighth forces having a (force) component along the first axis Y in a second opposite direction.

[0112] The fifth and sixth forces can each, and / or together, cause the second component 100 to rotate relative to the first component 10 about the second axis X in a first direction. The seventh and eighth forces can each, and / or together, cause the second component 100 to rotate relative to the first component 10 about the second axis X in a second opposite direction.

[0113] like Figure 5 As shown, each of the fifth SMA actuation unit 35, the sixth SMA actuation unit 36, the seventh SMA actuation unit 37, and the eighth SMA actuation unit 38 may include SMA elements 35, 36, 37, and 38 (configured to contract when actuated, i.e., heated by passing current through the SMA element), which are fixed to the first component 10 at first ends 35S, 36S, 37S, and 38S and fixed to the second component 100 at second ends 35M, 36M, 37M, and 38M.

[0114] Optionally, each of the fifth, sixth, seventh, and / or eighth forces is substantially parallel to the first axis Y.

[0115] Optionally, each of the fifth, sixth, seventh, and / or eighth forces has a (force) component along the first principal axis Z in a first direction (i.e., in the same direction). The first direction mentioned above with respect to the first, second, third, and / or fourth forces may correspond to this first direction.

[0116] Optionally, a load is applied to the support arrangement in a first direction along the first main axis Z (e.g., over the entire range of movement of the second component 100 relative to the first component 10).

[0117] Optionally, the fifth and sixth forces are applied at corresponding fifth and sixth points on the third side, and the fifth and sixth points along the first axis Y have substantially the same positions as the points where the second axis X intersects with the third side.

[0118] Optionally, the seventh and eighth forces are applied at corresponding seventh and eighth points on the fourth side, and the seventh and eighth points along the first axis Y have substantially the same positions as the points where the second axis X intersects with the fourth side.

[0119] Optionally, the points where the fifth and sixth forces are applied to the second component 100 are equidistant from the second axis X throughout the entire rotational movement range of the second component 100 relative to the first component 10 (i.e., the rotational movement range in which the second component 100 is configured to move relative to the first component 10 via the SMA actuation unit).

[0120] Optionally, the points where the seventh and eighth forces are applied to the second component 100 remain equidistant from the second axis X throughout the entire rotational movement range of the second component 100 relative to the first component 10 (i.e., the rotational movement range in which the second component 100 is configured to move relative to the first component 10 via the SMA actuation unit).

[0121] Optionally, the distance between the second axis X and the points where the fifth and sixth forces are applied to the second component 100 remains substantially constant throughout the entire rotational range of the second component 100 relative to the first component 10 (e.g., the rotational range in which the second component 100 is configured to move relative to the first component 10 via the SMA actuation unit). Therefore, the amount of rotation per unit actuation remains substantially constant, thus allowing for more efficient control of the actuation unit.

[0122] Optionally, the distance between the second axis X and the points where the seventh and eighth forces are applied to the second component 100 remains substantially constant throughout the entire rotational range of the second component 100 relative to the first component 10 (e.g., the rotational range in which the second component 100 is configured to move relative to the first component 10 via the SMA actuation unit). Therefore, the amount of rotation per unit actuation remains substantially constant, thus allowing for more efficient control of the actuation unit.

[0123] The aforementioned "rotational range of motion" may refer to the range of rotation of the second component 100 relative to the first component 10 around the second axis X, and optionally to the range of rotation around the first main axis Z.

[0124] Optionally, the support arrangement includes a third support element (not shown) positioned on (i.e., on or near) the third side of the second component 100 and a fourth support element (not shown) positioned on (i.e., on or near) the fourth side of the second component 100.

[0125] Optionally, each of the third and fourth support elements is a rolling element (e.g., a ball bearing) that interacts with the support surfaces associated with the second component 100 and the intermediate component (also referred to herein as the “universal joint component”) (not shown) to guide the second component 100 to rotate relative to the first component 10 about a second axis X, and to guide the second component 100 to move at least partially relative to the first component 10 along a first axis Y and / or to rotate relative to the first component 10 about a first main axis Z.

[0126] Optionally, each of the SMA actuation units 31-38 includes one or more SMA elements.

[0127] Optionally, the actuator assembly includes only two SMA actuation units (i.e., the fifth SMA actuation unit 35 and the sixth SMA actuation unit 36) that apply force to the third side of the second component 100, and only two SMA actuation units (i.e., the seventh SMA actuation unit 37 and the eighth SMA actuation unit 38) that apply force to the fourth side of the second component 100.

[0128] Optionally, the fifth SMA actuation unit 35, the sixth SMA actuation unit 36, the seventh SMA actuation unit 37 and the eighth SMA actuation unit 38 are configured to rotate the second component 100 relative to the first component 10 about the first main axis Z (e.g., in both directions) during selective actuation.

[0129] Optionally, the fifth SMA actuation unit 35, the sixth SMA actuation unit 36, the seventh SMA actuation unit 37, and the eighth SMA actuation unit 38 are configured to move the second component 100 at least partially relative to the first component 10 along the first axis Y during selective actuation.

[0130] Figure 6 Replacement Figure 5 The fifth SMA actuation unit 35, the sixth SMA actuation unit 36, the seventh SMA actuation unit 37, and the eighth SMA actuation unit 38 are arranged between the first component 10 and the second component 100. The fifth SMA actuation unit 35, the sixth SMA actuation unit 36, the seventh SMA actuation unit 37, and the eighth SMA actuation unit 38 can also be arranged between the third component 200 and the second component 100, as shown. Figure 6 As shown.

[0131] like Figure 6 As shown, the actuator assembly may include: a third component 200, which is movable relative to the second component 100, having a third axis perpendicular to the second main axis P and extending through a third and a fourth side of the third component, and a fourth axis perpendicular to the second main axis P and the third axis; a second support arrangement that allows the third component 200 to rotate relative to the second component 100 about the third axis, and also allows the third component 200 to move at least partially along the fourth axis relative to the second component 100 and / or rotate relative to the third component 200 about the second main axis P; and a fifth SMA actuation unit 35 and a sixth SMA actuation unit 36, which are configured to move towards the third component 100. A corresponding fifth force and a sixth force are applied to the third side of component 200; and a seventh SMA actuation unit 37 and an eighth SMA actuation unit 38 are configured to apply a corresponding seventh force and an eighth force to the fourth side of the third component 200; wherein the fifth force and the sixth force are capable of rotating the third component 200 relative to the second component 100 about the third axis in a first direction, and the seventh force and the eighth force are capable of rotating the third component 200 relative to the second component 100 about the third axis in a second opposite direction, each of the fifth force and the seventh force having a (force) component along the fourth axis in a first direction, and each of the sixth force and the eighth force having a (force) component along the fourth axis in a second opposite direction.

[0132] The fifth and sixth forces can each and / or together cause the third component 200 to rotate relative to the second component 100 about the third axis in the first direction. The seventh and eighth forces can each and / or together cause the third component 200 to rotate relative to the second component 100 about the third axis in the second opposite direction.

[0133] In this configuration, each of the fifth, sixth, seventh, and eighth SMA actuation units 35-38 may include an SMA element 35-38 (configured to contract upon actuation, i.e., heated by passing current through the SMA element), the SMA element being fixed to the second component 100 at first ends 35S, 36S, 37S, 38S and to the third component 200 at second ends 35M, 36M, 37M, 38M, as shown below. Figure 6 As shown.

[0134] The third component 200 may include an image sensor 220 and a lens assembly 210 for focusing an image onto the image sensor 220.

[0135] Optionally, each of the fifth, sixth, seventh, and / or eighth forces is substantially parallel to the fourth axis.

[0136] Optionally, each of the fifth, sixth, seventh, and / or eighth forces has a (force) component along the second principal axis P in a first direction (i.e., in the same direction). When the first principal axis Z and the second principal axis P are aligned, the first direction along the second principal axis P can be in the same direction or opposite to the first direction along the first principal axis Z mentioned above with respect to the first, second, third, and / or fourth forces, such as... Figure 6 As shown.

[0137] When the first principal axis Z and the second principal axis P are aligned, as follows: Figure 6 As shown, the third axis can be parallel to the second axis X, and the fourth axis can be parallel to the first axis Y.

[0138] Optionally, a load is applied to the second support arrangement in the first direction along the second main axis P, where the (force) component is located.

[0139] Optionally, the fifth and sixth forces are applied at corresponding fifth and sixth points on the third side, and the fifth and sixth points along the fourth axis have substantially the same positions as the points where the third axis intersects with the third side.

[0140] Optionally, the seventh and eighth forces are applied at corresponding seventh and eighth points on the fourth side, and the seventh and eighth points along the fourth axis have substantially the same positions as the points where the third axis intersects the fourth side.

[0141] Optionally, the points where the fifth and sixth forces are applied to the third component 200 are equidistant from the third axis throughout the entire rotational movement range of the third component 200 relative to the second component 100 (i.e., the rotational movement range in which the third component 200 is configured to move relative to the second component 100).

[0142] Optionally, the points where the seventh and eighth forces are applied to the third component 200 are equidistant from the third axis throughout the entire rotational movement range of the third component 200 relative to the second component 100 (i.e., the rotational movement range in which the third component 100 is configured to move relative to the second component 100).

[0143] Optionally, the distance between the third axis and the points where the fifth and sixth forces are applied to the third component 200 remains substantially constant throughout the entire rotational range of the third component 200 relative to the second component 100 (i.e., the rotational range in which the third component 200 is configured to move relative to the second component 100). Therefore, the amount of rotation per unit actuation remains substantially constant, thus allowing for more efficient control of the actuation unit.

[0144] Optionally, the distance between the third axis and the points where the seventh and eighth forces are applied to the third component 200 remains substantially constant throughout the entire rotational range of the third component 200 relative to the second component 100 (i.e., the rotational range in which the third component 200 is configured to move relative to the second component 100). Therefore, the amount of rotation per unit actuation remains substantially constant, thus allowing for more efficient control of the actuation unit.

[0145] The aforementioned "rotational range of the third component 200" may refer to the range of rotation of the third component 200 relative to the second component 100 about a third axis, and optionally the range of rotation about a second main axis P.

[0146] Optionally, the second support arrangement (not shown) includes a third support element positioned on (i.e., on or near) a third side of the third component 200 and a fourth support element positioned on (i.e., on or near) a fourth side of the third component 200.

[0147] Optionally, each of the third and fourth support elements is a rolling element (e.g., a ball bearing) that interacts with the support surfaces associated with the second component 100 and the third component 200 to guide the third component 200 to rotate relative to the second component 100 about a third axis, and to guide the third component 200 to move at least partially relative to the second component 100 along a fourth axis and / or rotate relative to the second component 100 about a second principal axis P.

[0148] Optionally, each of the SMA actuation units 35-38 includes one or more SMA elements.

[0149] Optionally, the actuator assembly includes only two SMA actuation units (i.e., the fifth SMA actuation unit 35 and the sixth SMA actuation unit 36) that apply force to the third side of the third component 200, and only two SMA actuation units (i.e., the seventh SMA actuation unit 37 and the eighth SMA actuation unit 38) that apply force to the fourth side of the third component 200.

[0150] Optionally, the fifth SMA actuation unit 35, the sixth SMA actuation unit 36, the seventh SMA actuation unit 37 and the eighth SMA actuation unit 38 are configured to rotate the third component 200 relative to the second component 100 about the second main axis P (e.g., in both directions) during selective actuation.

[0151] Optionally, the fifth SMA actuation unit 35, the sixth SMA actuation unit 36, the seventh SMA actuation unit 37 and the eighth SMA actuation unit 38 are configured to move the third component 200 at least partially relative to the second component 100 along the fourth axis during selective actuation.

[0152] Optionally, the first axis and the third axis are not parallel.

[0153] Optionally, the first side, second side, third side, and fourth side are arranged in a ring around the first principal axis Z. The first side and the second side can be opposite sides. The third side and the fourth side can be opposite sides.

[0154] Methods for controlling actuator components The aforementioned actuator assembly can be controlled by a method comprising: actuating a first actuation unit 31, a second actuation unit 32, a third actuation unit 33 and / or a fourth actuation unit 34 to cause the second component 100 to rotate relative to the first component 10 about a first axis Y, while controlling the position of the second component 100 relative to the first component 10 along a second axis X and / or the second component 100 to rotate relative to the first component 10 about a first main axis Z.

[0155] Optionally, the method includes actuating a first actuation unit 31, a second actuation unit 32, a third actuation unit 33 and / or a fourth actuation unit 34 to cause the second component 100 to rotate relative to the first component 10 about a first main axis Z.

[0156] Optionally, the method includes actuation (e.g. Figure 5 The fifth actuation unit 35, the sixth actuation unit 36, the seventh actuation unit 37 and / or the eighth actuation unit 38 are used to rotate the second component 100 relative to the first component 10 about the second axis X, while controlling the position of the second component 100 relative to the first component 10 along the first axis Y and / or the rotation of the second component 100 relative to the first component 10 about the first main axis Z.

[0157] Optionally, the method includes actuation (e.g. Figure 5 The fifth actuation unit 35, the sixth actuation unit 36, the seventh actuation unit 37 and / or the eighth actuation unit 38 are used to rotate the second component 100 relative to the first component 10 about the first main axis Z.

[0158] Optionally, the method includes actuation (e.g. Figure 6 The fifth actuation unit 35, the sixth actuation unit 36, the seventh actuation unit 37 and / or the eighth actuation unit 38 are used to rotate the third component 200 relative to the second component 100 about the third axis, while controlling the position of the third component 200 relative to the second component 100 along the fourth axis and / or the rotation of the third component 200 relative to the second component 100 about the second main axis P.

[0159] Optionally, the method includes actuation (e.g. Figure 6The fifth actuation unit 35, the sixth actuation unit 36, the seventh actuation unit 37 and / or the eighth actuation unit 38 are used to rotate the third component 200 relative to the second component 100 about the second main axis P.

[0160] Further description of the illustrated embodiment Each of the aforementioned actuator assemblies can also be described as comprising: a first component 10 having a first main axis Z defined with reference to the first component 10; a second component 100 movable relative to the first component 10 having a second main axis P defined with reference to the second component 100; a first pair of SMA actuation units (i.e., first SMA actuation unit 31 and second SMA actuation unit 32) configured to apply torque to a first side of the second component 100 to drive the second component 100 to rotate / tilt relative to the first component 10 about a first tilt axis Y (also referred to herein as "first axis Y") in a first direction, wherein the first tilt axis Y is perpendicular to the first main axis Z; and a second pair of SMA actuation units (i.e., third SMA actuation unit 33 and fourth SMA actuation unit 34) configured to apply torque to a second side of the second component 100 to drive The second component 100 rotates / tilts relative to the first component 10 about a first tilt axis Y in a second opposite direction; wherein the first side and the second side are opposite sides through which the first tilt axis Y extends; wherein only the first pair of SMA actuation units 31, 32 are configured to apply torque to the first side to cause the second component 100 to rotate relative to the first component 10 about the first tilt axis Y, and only the second pair of actuation units 33, 34 are configured to apply torque to the second side to cause the second component 100 to rotate relative to the first component 10 about the first tilt axis Y; wherein each SMA actuation unit 31-34 is configured to apply a force to the second component 100 in a direction perpendicular to the first main axis Z, or is configured to apply a force having a force component in a first direction parallel to the first main axis Z (i.e., in the same direction) (e.g., over the entire range of movement of the second component 100 relative to the first component 10).

[0161] Optionally, such as Figures 2 to 4 As shown, the actuator assembly includes first support arrangements 41, 42, which are configured to allow the second component 100 to tilt / rotate relative to the first component 10 about a first tilt axis Y, and constrain the second component 100 to tilt / rotate relative to the first component 10 about an axis perpendicular to the first principal axis Z and not parallel to the first tilt axis Y (e.g., the second tilt axis mentioned below, or an axis parallel to the second tilt axis).

[0162] Optionally, such as Figure 6As shown, the actuator assembly includes: a third component 200 movable relative to the second component 100; a third plurality of SMA actuation units (e.g., a fifth SMA actuation unit 35 and a sixth SMA actuation unit 36), each SMA actuation unit configured to apply torque to a third side of the third component 200 to drive the third component 200 to rotate relative to the second component 100 about a second inclined axis (also referred to herein as the "third axis") in a first direction, wherein the second inclined axis is perpendicular to the second principal axis P and not parallel to the first inclined axis Y; a fourth plurality of SMA actuation units (e.g., a seventh SMA actuation unit 37 and an eighth SMA actuation unit 38), each SMA actuation unit configured to apply torque to a fourth side of the third component 200 to drive the third component 200 to rotate relative to the second component 100 about the second inclined axis in a second opposite direction; and wherein the third side and the fourth side are opposite sides through which the second inclined axis extends.

[0163] Optionally, the actuator assembly includes a second support arrangement (not shown) configured to allow the third component 200 to tilt / rotate relative to the second component 100 about a second tilt axis, and to constrain the third component 200 to tilt / rotate relative to the second component 100 about a first tilt axis Y or an axis parallel to the first tilt axis Y.

[0164] Optionally, only the third plurality of SMA actuation units 35, 36 are configured to apply torque to the third component 200 to cause the third component 200 to rotate relative to the second component 100 about the second tilt axis; and only the fourth plurality of SMA actuation units 37, 38 are configured to apply torque to the third component 200 to cause the third component 200 to rotate relative to the second component 100 about the second tilt axis.

[0165] Optionally, each of the third and fourth plurality of SMA actuation units 35-38 is configured to apply a force to the third component 200 in a direction perpendicular to the second main axis P, or is configured to apply a force to the third component 200 having a force component in a first direction parallel to the second main axis P (i.e., in the same direction) (e.g., over the entire range of movement of the third component 200 relative to the second component 100).

[0166] Optionally, such as Figure 5As shown, the actuator assembly includes: a third plurality of SMA actuation units (e.g., a fifth SMA actuation unit 35 and a sixth SMA actuation unit 36), each SMA actuation unit being configured to apply torque to a third side of the second component 100 to drive the second component 100 to rotate relative to the first component 10 about a second inclined axis (also referred to herein as "second axis X") in a first direction, wherein the second inclined axis X is perpendicular to the first principal axis Z and not parallel to the first inclined axis Y; a fourth plurality of SMA actuation units (e.g., a seventh SMA actuation unit 37 and an eighth SMA actuation unit 38), each SMA actuation unit being configured to apply torque to a fourth side of the second component 100 to drive the second component 100 to rotate relative to the first component 10 about the second inclined axis X in a second opposite direction; and wherein the third side and the fourth side are opposite sides through which the second inclined axis X extends.

[0167] Optionally, the actuator assembly includes a support arrangement configured to allow the second component 100 to tilt / rotate relative to the first component 10 about a first tilt axis Y and a second tilt axis X.

[0168] Optionally, only the third plurality of SMA actuation units 35, 36 are configured to apply torque to the second component 100 to cause the second component 100 to rotate relative to the first component 10 about the second tilt axis X; and only the fourth plurality of SMA actuation units 37, 38 are configured to apply torque to the second component 100 to cause the second component 100 to rotate relative to the first component 10 about the second tilt axis X.

[0169] Optionally, each of the third plurality of SMA actuation units and the fourth plurality of SMA actuation units 35-38 is configured to apply a force to the second component 100 in a direction perpendicular to the first main axis Z, or is configured to apply a force to the second component 100 having a force component in a first direction parallel to the first main axis Z (e.g., over the entire range of movement of the second component 100 relative to the first component 10).

[0170] Optionally, the third plurality of SMA actuation units 35, 36 include a total of two SMA actuation units, and the fourth plurality of SMA actuation units 37, 38 include a total of two SMA actuation units.

[0171] Optionally, when viewed along the first tilted axis Y, the forces applied by the first pair of SMA actuation units 31, 32 are above and below the first tilted axis Y.

[0172] Optionally, when viewed along the first tilted axis Y, the forces applied by the second pair of SMA actuation units 33, 34 are above and below the first tilted axis Y.

[0173] Optionally, when viewed along the first inclined axis Y, the axes of the forces applied by the first pair of SMA actuation units 31, 32 do not intersect (do not cross each other) within the coverage area of ​​the actuator assembly.

[0174] Optionally, when viewed along the first inclined axis Y, the axes of the forces applied by the second pair of SMA actuation units 33, 34 do not intersect (do not cross each other) within the coverage area of ​​the actuator assembly.

[0175] Optionally, when viewed along the first inclined axis Y, the SMA elements that constitute part of the first pair of SMA actuation units 31, 32 are not intersecting (do not cross each other).

[0176] Alternatively, when viewed along the first inclined axis Y, the SMA elements that form part of the second pair of SMA actuation units 33, 34 do not intersect (do not cross each other).

[0177] Alternatively, when viewed along the second tilt axis X, the forces applied by the third plurality of SMA actuation units 35, 36 are above and below the second tilt axis X.

[0178] Alternatively, when viewed along the second tilt axis X, the forces applied by the fourth plurality of SMA actuation units 37, 38 are above and below the second tilt axis X.

[0179] Optionally, when viewed along the second inclined axis X, the axes of the forces applied by the third plurality of SMA actuation units 35, 36 do not intersect (do not cross each other) within the coverage area of ​​the actuator assembly.

[0180] Optionally, when viewed along the second inclined axis X, the axes of the forces applied by the fourth plurality of SMA actuation units 37, 38 do not intersect (do not cross each other) within the coverage area of ​​the actuator assembly.

[0181] Alternatively, when viewed along the second inclined axis X, the SMA elements that constitute part of the third plurality of SMA actuation units 35, 36 are not intersecting (do not cross each other).

[0182] Alternatively, when viewed along the second inclined axis X, the SMA elements that constitute part of the fourth plurality of SMA actuation units 37, 38 are not intersecting (do not cross each other).

[0183] Other variations It will be understood that many other variations of the above example may exist.

[0184] SMA The aforementioned SMA actuator assembly includes at least one SMA element. The term "shape memory alloy (SMA) element" can refer to any element that includes an SMA. An SMA element can be described as an SMA line. An SMA element can have any shape suitable for the purposes described herein. An SMA element can be elongated and can have a circular cross-section or any other cross-section shape. The cross-section can vary along the length of the SMA element. An SMA element can have relatively complex shapes, such as a helical spring shape. It is also possible that the length of the SMA element (as defined in any way) can be similar to one or more of the other dimensions of the SMA element. An SMA element can be sheet-like, and such sheet can be planar or non-planar. An SMA element can be flexible, or in other words, a flexible SMA element. In some examples, when connected in a straight line between two members, the SMA element can only apply tension that forces the two members together. In other examples, the SMA element can bend around a member, and the SMA element can apply a force to the member when the SMA element tends to straighten under tension. SMA elements can be beam-shaped or rigid and may be capable of applying different forces (e.g., non-tensional) to the element. SMA elements 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 materials. Unless the context requires otherwise, the term "SMA element" may refer to any configuration of SMA material that acts as a single actuating element, such that the single actuating element can be individually controlled to generate forces acting on the element. For example, an SMA element may include two or more portions of SMA material arranged mechanically 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 components that can be individually controlled, thereby forming two or more SMA elements. SMA elements may include SMA wires, SMA foils, SMA films, or any other configuration of SMA material. SMA elements can be manufactured using any suitable method, such as by methods involving drawing, rolling, deposition, sintering, or powder melting. SMA elements can exhibit any shape memory effect, such as thermal shape memory or magnetic shape memory, and can be controlled in any suitable manner (e.g., by Joule heating, another heating technique, or by applying a magnetic field).

Claims

1. An actuator assembly, comprising: The first component has a first main axis defined with reference to the first component; The second component, which is movable relative to the first component, has a second main axis defined with reference to the second component, a first axis perpendicular to the first main axis and extending through a first side and a second side of the second component, and a second axis perpendicular to the first main axis and the first axis. A support arrangement that allows the second component to rotate relative to the first component about the first axis, and also allows the second component to move at least partially along the second axis and / or rotate relative to the first component about the first main axis; and A first SMA actuation unit (first shape memory alloy actuation unit) and a second SMA actuation unit, wherein the first SMA actuation unit and the second SMA actuation unit are configured to apply a corresponding first force and a second force to the first side of the second component; and The third SMA actuation unit and the fourth SMA actuation unit are configured to apply corresponding third and fourth forces to the second side of the second component; The first force and the second force enable the second component to rotate relative to the first component about the first axis in a first direction, and the third force and the fourth force enable the second component to rotate relative to the first component about the first axis in a second opposite direction. Each of the first force and the third force has a component along the second axis in a first direction, and each of the second force and the fourth force has a component along the second axis in a second opposite direction.

2. The actuator assembly according to claim 1, wherein, Each of the first force, the second force, the third force, and / or the fourth force is substantially parallel to the second axis.

3. The actuator assembly according to claim 1 or 2, wherein, Each of the first force, the second force, the third force, and / or the fourth force has a component in a first direction along the first principal axis.

4. The actuator assembly according to claim 3, wherein, The component along the first axis in the first direction applies a load to the support arrangement.

5. The actuator assembly according to any of the preceding claims, wherein, The first force and the second force are applied at corresponding first and second points on the first side, wherein the first point and the second point have substantially the same position along the second axis as the point where the first axis intersects the first side.

6. The actuator assembly according to any of the preceding claims, wherein, The third force and the fourth force are applied at corresponding third and fourth points on the second side, wherein the third point and the fourth point have substantially the same position along the second axis as the point where the first axis intersects the second side.

7. The actuator assembly according to any of the preceding claims, wherein, The points where the first force and the second force are applied to the second component remain equidistant from the first axis throughout the entire rotational movement range of the second component relative to the first component.

8. The actuator assembly according to any of the preceding claims, wherein, The points where the third and fourth forces are applied to the second component are equidistant from the first axis throughout the entire rotational movement range of the second component relative to the first component.

9. The actuator assembly according to any of the preceding claims, wherein, The distance between the point where the first force and the second force are applied to the second component and the first axis remains substantially constant throughout the entire range of rotational movement of the second component relative to the first component.

10. The actuator assembly according to any of the preceding claims, wherein, The distance between the point where the third force and the fourth force are applied to the second component and the first axis remains substantially constant throughout the entire rotational movement of the second component relative to the first component.

11. The actuator assembly according to any of the preceding claims, wherein, The support arrangement includes a first support element positioned on the first side of the second component and a second support element positioned on the second side of the second component.

12. The actuator assembly according to any of the preceding claims, wherein, Each support element is a rolling element that interacts with a support surface associated with the first and second components to guide the second component to rotate relative to the first component about the first axis, and to guide the movement of the second component relative to the first component at least partially along the second axis and / or the rotation of the second component relative to the first component about the first main axis.

13. The actuator assembly according to any of the preceding claims, wherein, Each of the SMA actuation units includes one or more SMA elements.

14. The actuator assembly according to any of the preceding claims, comprising only two SMA actuation units that apply force to the first side of the second component, and only two SMA actuation units that apply force to the second side of the second component.

15. The actuator assembly according to any of the preceding claims, wherein, The first SMA actuation unit, the second SMA actuation unit, the third SMA actuation unit, and the fourth SMA actuation unit are configured to rotate the second component relative to the first component about the first main axis during selective actuation.

16. The actuator assembly according to any of the preceding claims, wherein, The first SMA actuation unit, the second SMA actuation unit, the third SMA actuation unit, and the fourth SMA actuation unit are configured to move the second component at least partially along the second axis relative to the first component during selective actuation.

17. The actuator assembly according to any of the preceding claims, wherein: The second axis extends through the third and fourth sides of the second component; The support arrangement allows the second component to rotate about the second axis relative to the first component, and allows the second component to move at least partially along the first axis and / or rotate about the first main axis relative to the first component. The actuator assembly also includes: A fifth SMA actuation unit and a sixth SMA actuation unit, the fifth SMA actuation unit and the sixth SMA actuation unit being configured to apply corresponding fifth and sixth forces to the third side of the second component; and The seventh SMA actuation unit and the eighth SMA actuation unit are configured to apply a corresponding seventh force and an eighth force to the fourth side of the second component; The fifth and sixth forces enable the second component to rotate relative to the first component about the second axis in a first direction, and the seventh and eighth forces enable the second component to rotate relative to the first component about the second axis in a second opposite direction. Each of the fifth and seventh forces has a component along the first axis in a first direction, and each of the sixth and eighth forces has a component along the first axis in a second opposite direction.

18. The actuator assembly according to any one of claims 1 to 16, comprising: The third component, which is movable relative to the second component, has a third axis perpendicular to the second main axis and extending through the third and fourth sides of the third component, and a fourth axis perpendicular to the second main axis and the third axis. A second support arrangement allows the third component to rotate relative to the second component about the third axis, and also allows the third component to move at least partially relative to the second component along the fourth axis and / or rotate relative to the third component about the second main axis; and The fifth SMA actuation unit and the sixth SMA actuation unit are configured to apply a corresponding fifth force and a sixth force to the third side of the third component; and The seventh SMA actuation unit and the eighth SMA actuation unit are configured to apply a corresponding seventh force and an eighth force to the fourth side of the third component; The fifth and sixth forces enable the third component to rotate relative to the second component about the second axis in a first direction, and the seventh and eighth forces enable the third component to rotate relative to the second component about the third axis in a second opposite direction. Each of the fifth and seventh forces has a component along the fourth axis in a first direction, and each of the sixth and eighth forces has a component along the fourth axis in a second opposite direction.

19. The actuator assembly of claim 18, wherein, The first axis and the third axis are not parallel.

20. The actuator assembly according to any one of claims 17 to 19, wherein, The first side, the second side, the third side, and the fourth side are arranged in a loop around the first main axis.

21. A method of controlling an actuator assembly according to any preceding claim, the method comprising: The first actuation unit, the second actuation unit, the third actuation unit, and / or the fourth actuation unit are actuated to cause the second component to rotate relative to the first component about the first axis, while controlling the position of the second component relative to the first component along the second axis and / or the rotation of the second component relative to the first component about the first main axis.

22. The method of claim 21, further comprising actuating the first actuation unit, the second actuation unit, the third actuation unit and / or the fourth actuation unit to cause the second component to rotate relative to the first component about the first main axis.

23. The method according to claim 21 or 22, which is dependent on claim 17, further comprising actuating the fifth actuation unit, the sixth actuation unit, the seventh actuation unit and / or the eighth actuation unit to rotate the second component relative to the first component about the second axis, while controlling the position of the second component relative to the first component along the first axis and / or the rotation of the second component relative to the first component about the first main axis.

24. The method of claim 23, further comprising actuating the fifth actuation unit, the sixth actuation unit, the seventh actuation unit and / or the eighth actuation unit to cause the second component to rotate relative to the first component about the first main axis.

25. The method according to claim 21 or 22, which is dependent on claim 18, further comprising actuating the fifth actuation unit, the sixth actuation unit, the seventh actuation unit and / or the eighth actuation unit to rotate the third component relative to the second component about the third axis, while controlling the position of the third component relative to the second component along the fourth axis and / or the rotation of the third component relative to the second component about the second main axis.

26. The method of claim 25, further comprising actuating the fifth actuation unit, the sixth actuation unit, the seventh actuation unit and / or the eighth actuation unit to cause the third component to rotate relative to the second component about the second main axis.

27. An actuator assembly comprising: The first component has a first main axis defined with reference to the first component; The second component is movable relative to the first component and has a second main axis defined with reference to the second component; The first pair of SMA actuation units are configured to apply torque to a first side of the second component to drive the second component to rotate relative to the first component in a first direction about a first tilt axis, wherein the first tilt axis is perpendicular to the first main axis. The second pair of SMA actuation units is configured to apply torque to a second side of the second component to drive the second component to rotate about the first tilt axis in a second opposite direction relative to the first component. The first side and the second side are opposite sides through which the first inclined axis extends; Specifically, only the first pair of SMA actuation units are configured to apply torque to the first side to cause the second component to rotate relative to the first component about the first tilt axis, and only the second pair of actuation units are configured to apply torque to the second side to cause the second component to rotate relative to the first component about the first tilt axis. Each SMA actuation unit is configured to apply a force to the second component in a direction perpendicular to the first main axis, or to apply a force having a force component in a first direction parallel to the first main axis.

28. The actuator assembly of claim 27, further comprising a first support arrangement configured to allow the second component to rotate relative to the first component about the first tilt axis, and to constrain the second component to rotate relative to the first component about an axis perpendicular to the first main axis and not parallel to the first tilt axis.

29. The actuator assembly of claim 27 or claim 28, comprising: A third component, which is movable relative to the second component; A third plurality of SMA actuation units, each configured to apply torque to a third side of the third component to drive the third component to rotate relative to the second component about a second inclined axis in a first direction, wherein the second inclined axis is perpendicular to the second main axis and not parallel to the first inclined axis; A fourth plurality of SMA actuation units, each of which is configured to apply torque to a fourth side of the third component to drive the third component to rotate relative to the second component about the second tilt axis in a second opposite direction. The third side and the fourth side are opposite sides through which the second inclined axis extends.

30. The actuator assembly of claim 29, further comprising a second support arrangement configured to allow the third component to rotate relative to the second component about the second tilt axis and to constrain the third component to rotate relative to the second component about the first tilt axis or an axis parallel to the first tilt axis.

31. The actuator assembly according to claim 29 or 30, wherein, Only the third plurality of SMA actuation units are configured to apply torque to the third component to cause the third component to rotate relative to the second component about the second tilt axis; and only the fourth plurality of SMA actuation units are configured to apply torque to the third component to cause the third component to rotate relative to the second component about the second tilt axis.

32. The actuator assembly according to any one of claims 29 to 31, wherein, Each of the third plurality of SMA actuation units and the fourth plurality of SMA actuation units is configured to apply a force to the third component in a direction perpendicular to the second main axis, or to apply a force to the third component having a force component in a first direction parallel to the second main axis.

33. The actuator assembly of claim 27, comprising: A third plurality of SMA actuation units, each configured to apply torque to a third side of the second component to drive the second component to rotate relative to the first component about a second inclined axis in a first direction, wherein the second inclined axis is perpendicular to the first main axis and not parallel to the first inclined axis; A fourth plurality of SMA actuation units, each of which is configured to apply torque to a fourth side of the second component to drive the second component to rotate relative to the first component about the second tilt axis in a second opposite direction. The third side and the fourth side are opposite sides through which the second inclined axis extends.

34. The actuator assembly of claim 33, further comprising a support arrangement configured to allow the second component to rotate relative to the first component about the first tilt axis and the second tilt axis.

35. The actuator assembly according to any one of claims 33 to 34, wherein, Only the third plurality of SMA actuation units are configured to apply torque to the second component to cause the second component to rotate relative to the first component about the second tilt axis; and only the fourth plurality of SMA actuation units are configured to apply torque to the second component to cause the second component to rotate relative to the first component about the second tilt axis.

36. The actuator assembly according to any one of claims 33 to 35, wherein, Each of the third plurality of SMA actuation units and the fourth plurality of SMA actuation units is configured to apply a force to the second component in a direction perpendicular to the first main axis, or to apply a force to the second component having a force component in a first direction parallel to the first main axis.

37. The actuator assembly according to any one of claims 29 to 36, wherein, The third plurality of SMA actuation units includes a total of two SMA actuation units, and the fourth plurality of SMA actuation units includes a total of two SMA actuation units.

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