基于低熔点合金相变的变刚度软体机械臂稳态传热研究

Study on Steady-state Heat Transfer of Soft Manipulators with Variable Stiffness Based on Low-melting-point Alloy Phase Transition

建立了基于低熔点合金相变的变刚度软体机械臂稳态传热模型,通过理论方法计算了机械臂稳态传热过程中各子模块的温度、传热功率和螺旋盘管中水的对流换热情况,并利用COMSOL Multiphysics仿真软件直观表达其稳态传热过程。仿真结果与理论计算结果差异在4.5%以内。理论分析和仿真结果可用于指导软体机械臂变刚度模块的设计。

The steady-state heat transfer model for the soft manipulators with variable stiffness based on LMPA phase transition was established to calculate the temperature changing,heat transfer power of each parts and the convective heat transfer of water in the spiral coil during steady-state heat transfer.Then,the steady-state heat transfer process was simulated by COMSOL Multiphysics.The differences between simulation and analysis model are within 4.5%.The theoretical analysis and simulation may be used to guide the design of variable stiffness modules.