摘要
提出了一种新型的基于偏心内嵌SMA丝复合弹性棒的驱动器结构 ,推导了复合弹性棒的三维变形描述方程式 .应用SMA丝和弹性棒的界面连续性原理 ,求解棒和丝的平衡方程式 ,得到了两者的合力和合力矩 .将三维方程应用于SMA丝平行轴线嵌入圆直棒的特定情形 ,得到二维的简化式 ,设计和制作了基于新型驱动器的多指机械手 .实验结果进一步验证了弹性棒变形理论 .
A new type of actuator based on composite elastic rods with embedded off axis SMA wires was presented. The 3D formulation of flexible rods with embedded wires was derived. Continuity of tractions on the rod wire interface was applied, and the result forces and moments in the rod and wires were found by solving the equilibrium equations for both the rod and wires. The formulation was reduced to 2D and applied to the case that SMA wires were embedded in a cylindrical rod. A multi fingered robot hand using several composite rods was developed. The experiment results proved the formulation.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2005年第3期78-80,共3页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
中国博士后科学基金资助项目 (2 0 0 4 0 35 0 194 )
湖北省自然科学基金资助项目 (2 0 0 4ABA10 7)
台达电力电子科教发展基金资助项目 (2 0 0 4 )
华中科技大学博士后科研专项基金资助项目 (2 0 0 4 0 0 4 ) .
关键词
形状记忆合金
驱动器
棒
弯曲
机械手
Shape Memory Alloy(SMA)
actuator
rod
bending
robot hand
