基于形状记忆合金弹簧阵列的人工肌肉设计与研究

针对形状记忆合金（SMA）丝、SMA弹簧驱动力和输出位移小的缺陷，提出了基于SMA弹簧阵列的人工肌肉设计方法。利用仿生学原理，设计了SMA弹簧阵列的空间串并联结构，推导了人工肌肉驱动力计算公式，对其输出模拟量用组合学方法进行了分析。利用UG和ADAMS建立了人工肌肉的多体动力学模型，同时，在Simulink上建立了人工肌肉的激活控制模型，在这些基础上，模拟仿生手臂弯曲伸展运动的工作过程，分析该人工肌肉的驱动和控制特性。仿真结果表明，SMA弹簧阵列结构能显著增大SMA驱动器输出位移和驱动力，并简化模拟量输出的控制。

Design and Research of SMA Spring Array Based Artificial Muscle

The shape memory effect exhibited by Nitinol wire can be utilized to construct an artificial muscle. However, the produced strain and recover force were relative small and only suitable for micro-robot. New biology inspired artificial muscle aiming to provide robots with big displacement and notable output force was presented. The bionic configuration of the SMA springs array based artificial muscle was designed and its driving mechanism was analyzed. Then, output force formulation was deduced. Muti-body dynamics model of the artificial muscle was built using UG and ADAMS, then control model under Simulink for simulating the artificial muscle was also established. Performance of dynamic characteristics of artificial muscle was simulated and analyzed by integrating the whole working process of bionic arm. The results show that the SMA springs array based artificial muscle has good simplicity and controllable analog output.