形状记忆合金丝驱动的仿生转动关节臂

Bionic Rotary Articulated Arm Driven by Shape Memory Alloy(SMA) Wires

提出了动物关节臂的力学模型，讨论了形状记忆合金（ＳＭＡ）和动物骨骼肌生物力学行为的相似性和力学性能的差异．基于仿生学的原理，研究了用ＳＭＡ丝驱动仿生转动关节的技术．研制了能实现ＳＭＡ感知功能的控制电路和ＳＭＡ丝驱动的仿生转动关节驱动器，并用该关节驱动器开发了一个两自由度的微型关节臂，该微型关节臂可用于微型步行机器人和人工假肢．

A mechanical model of the articulated arm of animal was presented, the similarity on biomechanics behavior and the difference on mechanical characteristics of SMA (shape memory alloy) and skeletal muscle were discussed. Based on the bionics, the technology of driving a bionic rotary joint by SMA wires was studied. The control circuit which can realize SMA's sensing ability and a bionic rotary joint actuator driven by SMA wires was developed. Utilizing this joint actuator, a micro articulated arm with two degrees of freedom was developed, which can be used in micro walking robot and artificial limb.