内嵌式SMA驱动器研制与应用

Development and application of embedded SMA actuator

提出了内嵌功能材料记忆合金丝的弹性棒结构,建立了描述变形的方程式。研制的复合棒直径8mm、长40mm、重8g,最大弯曲曲率可达14.8m-1。以该复合棒为基本单元,设计并制作了组合式多指机械手,并对手爪抓取球体的实验进行了研究。实验证明内嵌式记忆合金驱动器,机构简洁、运行寿命长、可靠性高,使机器人系统变得更加紧凑、柔顺性更好。

The novel elastic rod with embedded functional material-SMA wire is presented. The for-mulation describing rod's deformation is founded by solving the equilibrium equations for both the rodand SMA wires. The developed compound rod is 8mm in diameter, 40mm in length and 8g in weight. The maximum bending curvature of rod can reach 14.8m-1. Furthermore, a sectional robot hand using several rods with embedded SMA wires is constructed. The grasping experiment results are also dis-cussed. Operation experiments proof that the new type of ESMAA with a lower technologic complexity,a longer operating life and a higher reliability, results in a compact and flexible robotics system.