基于形状记忆合金丝包覆纱的针织物致动器研究

为构建面向软体机器人应用的织物基人工肌肉,设计并制备了1种以镍钛形状记忆合金丝为芯丝、芳纶复丝为外包纤维的包覆纱,利用该包覆纱制备了1种可通过电阻热驱动的纬平针织物致动器,研究了此致动器循环致动特性及其结构参数与致动条件对其致动特性的影响。研究结果表明:针织物致动器受驱动后将沿线圈纵行方向产生弯曲变形;当致动器线圈横列数增加时,其沿织物平面线圈纵行方向输出的致动力值将呈近似线性关系显著增加,而在垂直于织物平面方向输出的致动力略有减小;针织物致动器线圈尺寸的增加将使其沿织物平面内线圈纵行方向输出的致动力增加;致动电流值的增加将使致动器输出的致动力增大;针织物致动器具有稳定、快速的循环致动能力。

Study on actuating force of knit actuator based on covered yarn with shape memory alloy wire as core

To fabricate fabric-based artificial muscle for soft robotic applications, a covered yarn with NiTi shape memory alloy (SMA) wire as the core and aramid multi-filaments as the sheath was designed in this research. Plain knittes fabric-based actuators were fabricated from the covered yarn, which can be driven by Joule heat. Effects of the structural parameters and actuation conditions on the actuation performance of the knit actuators as well as their cyclic actuation characteristics were investigated. The results show that upon actuation, the plain knittes fabric-based actuator exhibits bending deformation along its wale direction. With the increase of number of rows of the knit actuator, its actuating force along the wale direction in the fabric plane increases linearly, while its actuating force in the direction perpendicular to the fabric plane demonstrates a slight decrease. The increase of the loop size leeds to the increased actuating force along the wale direction in the fabric plane. The rise of the actuating current resultes in an increase of the actuating forces in both directions. The knit actuator exhibites a stable and high-frequency cyclic actuating capability.