形状记忆合金丝驱动的触手推进式仿生水母

为研制一种高效自主游动的新型水下机器人,受水母的身体特征和鱼尾的推进模式的启发,利用智能材料——形状记忆合金丝(shape memory alloy,SMA)模拟肌肉纤维作为驱动材料,在对水母整体结构进行仿生改造,并对其运动策略进行分析的基础上,研制了一种由6个仿生触手推进器驱动的仿生机器水母原理样机．该机器人总长230 mm,直径110 mm,总质量590 g,自带能源动力,在无线遥控下能达到115 mm／s的直线游动速度和18 °／s的转弯速度．实验结果表明:该仿生水下机器人结构、密封简单,机动性强,能够无声推进,并具有生物友好性等优点,验证了形状记忆合金丝做仿生肌肉材料的可行性．     

肌肉性静水骨骼原理的仿乌贼鳍推进器

模拟乌贼鳍动作的肌肉性静水骨骼原理的仿乌贼鳍推进器由推进模块、遥控模块、驱动模块和电池组等几部分组成.推进模块由2个水平鳍构成,每个水平鳍由1张鳍膜和5个由形状记忆合金丝驱动的柔性鳍单元组合而成.柔性鳍单元模拟乌贼鳍结构,能实现柔性弯曲.柔性鳍单元动作过程中利用弹性机制,在弯曲时存储弹性能,在回复时释放弹性能,从而减少能量消耗.对柔性鳍单元的形状记忆合金丝进行了热力学分析,发现采用短脉宽、大电流的脉冲可使柔性鳍单元在较高动作频率时,达到较大的弯曲角度.在空气中和水中对柔性鳍单元进行了弯曲试验,验证了柔性鳍单元的设想和控制方法.对该推进器模仿短鳍乌贼的鳍拍动进行了游动试验,达到了40mm/s的最大直线游动速度和22(°)/s的最大打转游动速度.该推进器对环境友好,能实现柔性动作和水下无声推进.     

形状记忆合金丝加固古塔墙体抗震性能试验研究

针对砖石古塔墙体抗震性能差的问题,提出采用形状记忆合金丝(SMA丝)对古塔墙体进行抗震加固的新技术.为研究其加固效果,对SMA丝进行了力学性能测试,分析应变幅值对其耗能的影响,并通过SMA丝加卸载训练使其保持稳定的完全超弹性状态;通过2片SMA丝加固古塔墙体模型(1片完好墙体和1片损伤墙体)和1片未加固古塔墙体模型的拟...     

仿生水下机器人运动控制方法研究

近年来仿生技术在水下机器人上的应用已经成为水下机器人的重要研究方向之一.仿生水下机器人采用尾鳍提供前进动力和改变航向,比传统的桨舵具有高效性和高机动性.根据仿生水下机器人水池试验结果讨论了其运动性能,并在此基础上提出了仿生水下机器人运动控制方法,最后通过仿真试验验证了该方法.根据试验结果得出,针对现阶段仿生水下机器人的运动能力,其控制内容和控制方法是合理、有效的.研究和试验表明,符合实际的仿真模型与可行的运动控制方法使仿生水下机器人运动性能得到了不断的完善和改进;最终实现"仿生-Ⅰ"号的纵向速度控制、艏向控制和深度控制,从而使其具有大范围的转移能力.     

仿生波动鳍的试验研究

波动鳍是某些MPF鱼类的重要推进器,它通过在水中的波动来产生推进和机动所需的操控力和操控力矩.通过观察可知,波动鳍具有非常优秀的低速稳定和机动性能,可作为传统水下推进器的一种有益补充.该文从波动鳍的推进机理出发,设计了一种仿生波动鳍试验装置,该装置采用"鳍条-柔性蹼"结构,由9根鳍条组成,且每根鳍条均由一个舵机进行独立控制.针对载体推进速度与仿生波动鳍的波频、波幅、波长和波传播方向的关系开展了水池试验研究.试验结果表明,通过对仿生波动鳍的波动进行控制,能够使载体实现灵活的正逆向推进,且不同的波动参数对推进速度和推进效率有较大影响.     

海洋机器人推进器电机的电磁场计算

利用有限元法计算海洋机器人推进器电机的电磁场 ,从而求出电机的漏磁系数。电机设计人员通过将电磁场计算出的漏磁系数与电机设计值相比较 ,调整电机的结构尺寸 ,再利用电磁场计算校核 ,最终设计出既满足稳态性能要求 ,又满足动态性能要求的电机。     

仿生机器人研究进展及仿生机构研究

以自然界仿生对象为基础,介绍了国内外现有的5类仿生机器人——仿飞行生物机器人、仿陆地生物机器人、仿水下生物机器人、仿水陆两栖生物机器人及仿人机器人的研究现状及最新进展,详细阐述了每种仿生对象的特点,仿生机器人的基本结构、性能特征及应用前景.在分析仿生机器人机构特性的基础上,提出并阐述了仿生机器人仿生机构的冗余驱动原理、欠驱动仿生原理、变胞结构设计、运动稳定性设计、高承载自重比设计,以及新型仿生材料设计等重要研究内容.     

仿生机器人的研究综述

介绍了国内外仿生机器人的最新发展动态。归纳和阐述了各种类型仿生机器人的特点及研究成果,分析了仿生机器人的发展趋势。     

形状记忆合金驱动手指功能康复外骨骼设计

为了研制适应关节黏弹特性、轻便、可穿戴的手指功能康复装置,在分析手指关节、肌腱运动机理的基础上,设计形状记忆合金（SMA）丝驱动的手指功能康复装置.建立该装置的运动学模型和SMA驱动模型,提出基于SMA丝电阻反馈的模糊神经网络PID控制方法,研制手指功能康复外骨骼样机,进行样机的运动性能和控制性能实验.结果表明,仿生外骨骼实现了预期的手指被动康复运动,拇指、食指和中指的最大弯曲角度与人体手指的弯曲角度相近,分别为130.5°、236.4°、242.5°;仿生外骨骼能够辅助手指完成日常抓握动作;模糊神经网络PID相比于传统PID控制,有效缩短了仿生外骨骼的响应时间,手指的屈伸康复频率为6次/min.     

Passive smart self-repairing concrete beams by using shape memory alloy wires and fibers containing adhesives

An innovative approach to increase structural survivability of concrete and maintain structural durability of concrete was developed in case of earthquakes and typhoons. This approach takes advantage of the superelastic effect of shape memory alloy（SMA） and the cohering characteristic of repairing adhesive. These SMA wires and brittle fibers containing adhesives were embedded into concrete beams during concrete casting to form smart reinforced concrete beams. The self-repairing capacity of smart concrete beams was investigated by three-point bending tests. The experimental results show that SMA wires add self-restoration capacity,the concrete beams recover almost completely after incurring an extremely large deflection and the cracks are closed almost completely by the recovery forces of SMA wires. The number or areas of SMA wires has no influence on the tendency of deformation during loading and the tendency of reversion by the superelasticity. The adhesives released from the broken-open fibers fill voids and cracks. The repaired damage enables continued function and prevents further degradation.     

A free-cutting and ductile CuAlMnZnTiB shape memory alloy

The mechanical properties and cutting performance of the designed Cu Al Mn Zn Ti B shape memory alloy were studied by tensile test and microstructure observation. Using X-ray diffractometry, differential scanning calorimetry(DSC) and semi-quantitative shape memory effect test, the microstructure and shape memory effect were analyzed. It is found that lots of βphase and few α phase are formed in the quenching of Cu-7.5Al-9.7Mn-3.4Zn-0.3Ti-0.14B(mass fraction, %) alloy, a great deal of martensite and few α phase are formed in the aging alloy, while the annealing alloy is composed of a great deal of α phase and few βphase. The tensile strength and elongation of the annealed alloy are 649 MPa and 17.1%, respectively. Some tiny and dispersion distributed second phase particles are generated in Ti and B precipitates, greatly improving the alloy machinability.     

Fe—Mn—Si基形状记忆合金及其应用

介绍了形状记忆合金的简要发展史,Fe-Mn-Si合金的形状记忆机理以及合金的主要元素组成,各成分的作用,提高记忆的方法,分析了其应用情况和前景。     

Effect of chemical component on shape memory effect of Fe-Mn-Si-Ni-C-RE shape memory alloy

Effect of chemical component on shape memory effect (SME) of Fe-Mn-Si-Ni-C-RE shape memory alloys was studied by bent measurement, thermal cycle training, SEM etc. Results of study indicate that the alloys with high Mn content (25%) appeare better SME, especially in lower strain. SME improves evidently when Si is higher content, especially it‘s range firm 3% up to 4%.But brittleness of Fe-Mn-Si-Ni-C-RE alloy increases by increasing the Si content. SME of the alloy is weakening gradually as carbon content increases under small strain (3%). But in the condition of large strain (above 6%), SME of the alloy whose carbon content ranges from 0.1% to 0.12% shows small decreasing range, especially of alloy with the addition of compound RE.     

形状记忆合金驱动器的力学性能

基于形状记忆合金（ＳＭＡ）材料的Ｂｒｉｎｓｏｎ本构关系,研究了ＳＭＡ驱动器在自由冷却和强制冷却等两种热交换形式下的动力响应问题,探讨了ＳＭＡ丝在恒载及荷载变化时完成正逆相变所需用的时间．研究结果表明,热交换方式对完成相变时间有较大影响,并且增加散热面积和提高热交换速率均可有效地加速相变的完成．最后,本文还简单讨论了影响ＳＭＡ驱动器响应时间的几个因素和改进方法．     

形状记忆合金迟滞模型

基于实验测试,结合Preisach理论研究了形状记忆合金(Shape memory alloy,SMA)丝驱动器的迟滞建模。首先,依赖于SMA材料受输入电压作用引起的温升变化诱发材料相变输出位移量,设计了SMA丝特性测试平台,记录了驱动过程中的输入、输出变化量,得到理论模型参数辨识的数据集合。然后,讨论了SMA丝的输入电压、温度变化与形状记忆效应产生的材料宏观位移间的迟滞关系。最后,引入Preisach理论,由推导的经典Preisach理论的修正形式和数值实现方法构造了SMA驱动器温度量和位移的迟滞模型。结果表明:与试验数据比较,Matlab环境仿真得到的SMA迟滞曲线,匹配性较好,为进一步的系统设计分析奠定了基础。     

NiTi形状记忆合金应变传感特性分析

阐述了形状记忆合金丝的应变传感原理.在Brinson建立的形状记忆合金一维本构模型的基础上,引入Ikuta提出的电阻率与马氏体百分含量之间的关系并对其进行简化,建立了形状记忆合金应变传感特性的理论分析模型.分析了不同温度条件、不同初始状态的形状记忆合金电阻相对变化率与应变之间的关系.并与已有试验结果进行比较,验证了该模型的有效性.结果表明,形状记忆合金可以作为应变传感元件使用,温度对形状记忆合金的传感特性有影响,设计时要根据使用温度来确定形状记忆合金的相变温度.     

Constitutive model for shape memory alloy torsion actuator

Shape memory alloy ( SMA) torsion actuator is one of the key approaches realizing adaptive wings in airplanes. In this paper,the actuator is made up of SMA wires and a thin-walled tube,in which the SMA wires are twisted and affixed around the surface of the tube at an angle referenced to the center axis of the tube. A thermo-mechanical constitutive model is developed to predict the thermo-mechanical behaviors of the SMA torsion actuator based on the knowledge of solid mechanics. The relationship between the torsion-angle and tem- perature is numerically calculated by using the thermo-mechanical constitutive model coupled with the SMA phase transformation model developed by Zhou and Yoon. The numerical results are compared with the relative experimental results finished by Xiong and Shen. Influences of the twist-angle of SMA wires and geometrical factors on the primary actuation performances of the SMA torsion actuator are also numerically investigated based on the thermo-mechanical constitutive model coupled with the SMA phase transformation model developed by Zhou and Yoon. Results show that the thermo-mechanical constitutive model can well predict the thermo-mechanical behaviors of the SMA torsion actuator.