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在分析了形状记忆合金(SMA)弹簧电热驱动原理的基础上,对一种差动式关节型SMA驱动器进行了实验研究。实验结果表明:驱动电流和冷却条件对驱动器的摆动周期有很大的影响,增大电流会显著提高SMA驱动器的动作频率,但电流过大,易使SMA失去形状记忆功能,所以,电流应控制在一定的范围之内。驱动器的动作频率还受到冷却速度的制约,加快冷却速度也会提高驱动器的动作频率。 相似文献
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基于蚯蚓原理的多节蠕动机器人 总被引:8,自引:3,他引:8
介绍了多节蠕动机器人的机体构造和运动原理,建立了机器人运动模型并进行了分析. 阐述了该机器人系统的控制组成和软件设计. 讨论了机器人在不同倾角橡胶管道内的驱动性能试验.进行了机器人温度试验及转弯性能试验.结果表明:该微小型机器人运行可靠、平稳,控制方便,有一定的爬坡能力;连续工作时机器人温度不超过35℃;可通过大于36mm的弯曲半径.该研究为非结构环境狭小空间及人体消化道探察机器人的研制奠定了基础. 相似文献
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为进入人体腔道开展作业,开发了一种直径6mm的仿蚯蚓多关节蠕动微机器人样机.机器人使用十字万向节连接直线驱动器,在弯曲腔道中能自适应改变自身姿态.基于Preisach模型和偏转模型,提出了形状记忆合金偏转机构的前馈控制方案,头舱控制最大偏转误差为2.6°.基于新型蠕动原理,建立了牵引模型,给出了有效驱动的条件.对机器人的牵引力、运动速度、在不同摩擦系数介质表面上的运动能力、头舱姿态进行了试验.结果表明,机器人的爬坡能力依赖于机器人和运动表面间的摩擦系数,新型蠕动原理能提供较大的牵引力,合适的驱动频率下可以得到最大的运动速度. 相似文献
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SMA微驱动器的设计方法 总被引:1,自引:0,他引:1
前言 微驱动器是微型机器人中的重要组成部分。形状记忆合金(SMA)用于微驱动器是一种极好选择。SMA体积越小,功重比越大;采用SMA驱动后可省略传动机构,使结构大为简化;同时可以实现精确控制。本文主要介绍SMA微驱动器的设计方法。 相似文献
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设计和制造了一种多驱动器软体机器人来模拟虎甲幼虫的爬行、转向和咬合运动.其中,软体机器人尾部采用多气囊式软体驱动器,实现了向前运动;软体机器人颈部采用纤维增强弯曲致动器,实现了转向运动;软体机器人头部采用形状记忆合金(SMA)弹簧驱动,实现了咬合运动.最后,模拟虎甲幼虫爬行捕捉小红果进行了实验,结果证明该软体机器人的多驱动器设计可以模拟虎甲幼虫进行复杂运动. 相似文献
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为解决柔性蠕动管道机器人的运动控制问题,提高机器人管内行走效率,对一种具有导向头和刹车轮结构的柔性蠕动管道机器人进行了深入分析和研究.通过对机器人进行管内受力分析,建立起机器人的牵引力模型;为提高机器人在不同管道环境中的运动性能,对软轴结构的运动稳定性进行了分析,提出了机器人蠕动运动失稳的概念,并采用长柱体的稳定性理论进行分析,推导出机器人在直管和L型管道中的临界失稳条件,为柔性蠕动管道机器人步距规划提供了理论依据.搭建管道实验环境进行机器人的牵引力和行走实验,测试值与理论分析基本一致,说明柔性蠕动管道机器人具有优良的牵引能力,行走过程中的运动失稳现象也验证了软轴临界失稳理论的正确性. 相似文献
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《Sensors and actuators. A, Physical》2006,125(2):429-437
A novel bio-mimetic micro robot with wireless control and wireless power supply using shape memory alloy (SMA) actuator is developed. There have been many kinds of mobile micro robot using the micro actuators such as ionic polymer metal composite (IPMC), micro motors and piezo actuators. These actuators generally require electric cable for power supply, which might highly influence the mobility of the micro robot. Therefore, a perfect wireless micro robot comprising telemetry and batteries is realized using only one SMA spring actuator and one silicone bellow. The SMA actuator and bellow play a role in contraction and extension of an earthworm muscle respectively. Based on theoretical analysis, specifications of a SMA actuator and a bellow are properly selected. For temporal stopping, setae of earthworm mimicked claws are employed. On the issue of control, the proposed robot is controlled according to On/Off signal via wireless communication. The operation is customized through tuning of on-/off-time of an actuator and using different type batteries such as a lithium, silver oxide and alkaline battery. After the design and experiment, we find out that the earthworm-like micro robot without wired power supply and control can move freely without limitation of working space and be fabricated easily. 相似文献
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《Advanced Robotics》2013,27(2):89-108
The driving-force-generating principle of an actuator made of shape memory alloy (SMA) is based on the thermal elastic martensitic transformation, a kind of elastic phenomenon. As a result, conventional SMA actuators which use a circular pulley have tended to exhibit undesirable characteristics such as the maximum generable torque being changed depending on the rotating angle when the robot joint was driven by rotating motion transformed from expansion/contraction of the SMA, so that the servo system to support the torque under a certain load could not have an operable range wide enough for practical application. This paper intends to clarify these problems of SMA actuators and proposes a new joint mechanism using a σ-shaped non-circular pulley, called the σ-mechanism, for joint linkage to overcome the problems. This design enables the maximum generated torque to be kept uniform at all times by reducing the torque-arm-length in inverse proportion when the SMA tension increases corresponding to the rotating angle of the joint. Subsequently, a specifically designing algorithm for the proposed σ-mechanism is discussed. The validity of the new mechanism is demonstrated by an experimental model using an SMA actuator with a σpulley. 相似文献
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Thanhtam Ho Sangyoon Lee 《International Journal of Control, Automation and Systems》2013,11(5):991-1000
This paper reports the design, simulation, analysis, and experiments of mesoscale fourlegged robots that can locomote by a jumping gait using only shape memory alloy (SMA) wires as actuators. Through studies of the structure and function of leg muscle groups in vertebrates’ lower musculoskeletal system, three types of muscles are selected for robot leg design, and each muscle is then replaced by an SMA wire in the robot model. Two types of robot models are proposed and analyzed using three sets of computer simulation. It can be concluded from the simulation that the sequence of SMA muscle activation, activation arrangement of the rear and the front legs, and the foot length are primary factors determining the jumping performance. It is observed that when the robot has three degrees of freedom for each leg and a foot length of 40 mm, the maximum jumping height is approximately 120% of the robot’s height and the maximum distance per jump is about 35% of its length. In addition, two robot prototypes are presented based on the design models and experimental results. The simulation and experimental results are found to show good agreement. The overall results show that the proposed robot design and SMA actuation method are feasible for all SMA-driven jumping robots. 相似文献
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A new approach to artificial muscle actuator design is presented, and is implemented using shape memory alloys (SMA). An array of SMA actuators is segmented into many independently controlled, spatially discrete volumes, each contributing a small displacement to create a large motion. The segmented cellular architecture of SMA wires is extended to a multiaxis actuator array by arranging the segments in a two-dimensional (2-D) array. The multiaxis control is streamlined and coordinated using a 2-D segmentation method in order to activate multiple links of a robot mechanism in a coordinated manner. The basic principle of segmented binary control (SBC) is first presented, followed by multiaxis segmentation theory and a design procedure. The method is applied to a five-fingered robotic hand capable of taking a variety of postures. A 10-axis SMA actuator array is built, and SBC is implemented using Peltier-effect thermoelectric devices for selective local heating and cooling. Experiments demonstrate the feasibility and effectiveness of the new method. 相似文献
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仿生“蚯蚓”机器人的SMA 执行器实现 总被引:1,自引:0,他引:1
虽然从生物学角度来说,蚯蚓的波浪式运动机制已经相当清楚,但在小尺寸下人工蚯蚓的实现仍然是极具挑战性的工作.采用记忆合金材料(SMA),设计实现了用于仿生蚯蚓机器人的执行器,并通过该执行器的动作循环模仿,实现了蚯蚓的波浪式运动.实现的人工蚯蚓共有四单元,每一单元都有可独立驱动的执行器.执行器由一根或三根SMA弹簧构成,其波动式运动的最高频率为0.6 Hz.每一单元人工蚯蚓,都被覆特定形状的软硅胶皮,该硅胶皮提供了SMA执行器的对抗力,同时也是安装微型腿的平台,从而进一步提高了人工蚯蚓的运动效率.初步的测试显示该执行器工作有效,人工蚯蚓的运动速度可达2.5mm/s,与真实的蚯蚓运动速度相近. 相似文献
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Pneumatic muscle (PM) of flexible actuators used in bionic robot is an active area of recent research. A novel PM with shape memory alloy (SMA) braided sleeve is proposed in this paper, and SMA is used to improve PM working characteristics. Based on the principle of virtual work, output force model of PM and relationship with braided wire inner-stress are established, and analysis of PM deformation has shown that braided wire length is the key factor of output force characteristic. Based on the crystal structure transitions, the relationship of temperature with wire shrinkage is derived. Then, the synthetic dynamics of novel PM is established. A physical prototype of PM with SMA braided sleeve is developed, and test platform that is built for the experiment. Experiment and simulation test of static isometric-length, static isobaric-pressure, and dynamic characteristics are done. The experimental results are compared with the simulation of theoretical model. Moreover, based on experiment, model of output force was improved by adding a correction factor to deal with the elastic force of rubber tube. The results analysis demonstrates that the established models are correct, and SMA wires can reinforce PM and make PM working characteristics adjustable. PM proposed in this paper has greater output force and is beneficial to achieve more accurate control that is useful for manipulating fragile things. 相似文献
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M. Leester-Schädel B. Hoxhold C. Lesche S. Demming S. Büttgenbach 《Microsystem Technologies》2008,14(4-5):697-704
Three innovative micro actuator concepts on the basis of the differential SMA principle are presented in this paper: a high
adaptive multi-actuator system, which is driven by numerous identical single actuators connected in parallel and in series,
a micro gripper for handling and assembling of complex hybrid micro systems and a micro actuator system in medical tools for
the percutaneous resection of aortic valves. The SMA material is used in the form of 50 μm thin NiTi foils because of their
well-defined properties and high strength. In order to integrate them into micro systems, different manufacturing methods
have been applied and improved at the Institute for Microtechnology. Laser cutting and wet chemical etching are used for example
to microstructure the actuator elements. Different methods for electrical and mechanical connections of the actuators are
employed like soldering by the use of an additional gold layer. A batch fabrication process of SMA actuators is realized by
embedding NiTi foil elements into SU-8 structures. To optimize the design of SMA actuator elements according to its application
different simulation procedures are used. 相似文献
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移动机器人导航模型的设计方法 总被引:4,自引:0,他引:4
本文针对自主式移动机器人的系统结构,利用Petri网建立了同步和异步两咱流水线模型,并分析了各自的特点和性能同步流水线模型适用于功能模块工作时间大致相等且稳定的场合能发挥精确、安全的优势;异步流水线模型则具有更快的处理速度。 相似文献