全集成空间弯曲形状记忆合金电机研究与应用-中国电机工程学报.PDF

27 卷 12 期 中 国 电 机 工 程 学 报 Vol.27 No.12 Apr. 2007 2007 年4 月 Proceedings of the CSEE 2007 Chin.Soc.for Elec.Eng. 文章编号：0258-8013 (2007) 12-0024-04 中图分类号：TM34 文献标识码：A 学科分类号：47040 全集成空间弯曲形状记忆合金电机研究与应用 凯，辜承林 (华中科技大学电气与电子工程学院，湖北省 武汉市，430074) Research and Application of Entirely-integrated Spatial-bending SMA Actuators YANG Kai, GU Cheng-lin (College of Electrical and Electronic Engineering of Huazhong University of Science and Technology, Wuhan 430074, Hubei Province, China) ABSTRACT: A new structure of entirely-integrated spatial- 推导了形变分析数值计算方程。同时，运用叠加原理得出了 bending shape memory alloy actuators(ESSMAA) is first 近似算法并与数值计算方法进行对比研究。最后，将 presented. Three SMA wires, which are trained to remember ESSMAA 直接用作拟人手拇指主动指节，结合平面弯曲 “U” recovery shape, are embedded in liquid silicone rubber to SMA 电机，构建了三指六指节机械手样机，单机与多机实 be solidified upon room temperature, in company with 验验证了ESSMAA 及机械手的良好运行控制品质。 displacement sensors and connective wires. The spatial bending, 关键词：全集成空间弯曲形状记忆合金电机；弯曲变形；曲 which is accomplished through heating SMA wires by suitable 率传感器；多指；拟人机械手 current, can restore flexibly as soon as stopping heating. Thus, 0 引言 the compact, two-way, mechanical and electrical incorporation actuator is completed. On the basis of expounding the 近年来，多指拟人机械手获得了较为广泛的关 operation principle in detail, the curvature sensor, which is [1-5] 注 。作为力和位移的输入源，驱动器是研究的关 composed of six stain gau