直线型内嵌式SMA电机的设计与优化

由形状记忆合金构成的结构简单、控制灵活、功率密度大的电机，在轻型机器人及小型化系统中具有独特的技术优势。然而，几乎所有现行结构中，致动元件和偏动元件都是分离的，驱动单元和执行单元也彼此独立，不但机构复杂，就是手指的张合动作也很不连贯，更无仿生柔顺性可言。因此，该文研制了新型直线型内嵌式记忆合金电机。该电机由内嵌直线回复型记忆合金丝的硅胶棒组成，通过温度循环方式稳定输出力和位移。该文建立了电机的变形理论，结合实验结果，对丝半径、丝的偏心距、丝的预变形量、棒半径进行了优化设计，得出了这一微特电机设计的规律性结论。

DESIGN AND OPTIMIZATION OF LINEAR EMBEDDED SMA ACTUATOR

The simple, light and high power density SMA actuator holds much promise for the future of lightweight robotics and miniaturization. However, in almost all the design of existing robot hands using SMAAs, the actuating compon-ents are physically separated from the reversing components as well as the driving units are separated from the executing units, in result of complicated frames and inflexible moves. Therefore, the new type linear embedded SMAA is first presented. Consisting of an elastic rod with off-axis embedded linear SMA wires, the actuator could output force and displacement steadily through recoverable temperature circle. The deflection theory is also established connecting with experiment results. Finally, the general design principle is described on the basis of optimization design of wire's radius, wire's prestain, wire's offsetting and rod's radius.