摘要
本文设计了一种柔性弯曲关节,由铝合金圆环、超弹性形状记忆合金(SMA)以及双程形状记忆合金丝构成,其中超弹性SMA作为支撑杆,双程SMA丝作为驱动机构,通过电流驱动双程SMA收缩,实现了柔性关节自主弯曲,电流卸载后关节可恢复至初始状态。搭建了双程SMA丝驱动收缩特性测试平台,当电流为2.1 A时,收缩率为4.02%,建立了ABAQUS模型仿真。建立了弯曲关节的3D运动学模型,获得了不同加载条件下,两段关节弯曲角度的理论值。通过对比理论模型和实验结果,表明:采用超弹性SMA可有效增加弯曲角度,两段关节最大弯曲角度分别为43.1°与22°。
In this paper,a flexible bending joint is designed,which is composed of aluminum alloy ring,superelastic shape memory alloy(SMA)and two-way shape memory alloy wire.The superelastic SMA is used as the supporting rod and the two-way SMA wire is used as the driving mechanism.The flexible joint can be bent autonomously by current driving the two-way SMA to contract.After the current is unloaded,the joint can return to the initial state.The simulationmodel via ABAQUS at a current of 2.1A and shrinkage rate of 4.02%is established.The 3D kinematic model for the bending joint is established,and the theoretical values of the bending angles of the two joints under different loading conditions are obtained.By comparing the simulated results via the present model with the experimental,the results show that superelastic SMA can effectively increase the bending angle,and the maximum bending angle of the two joints is 43.1°and 22°respectively.
作者
吕雨微
芦吉云
王宜耀
LYU Yuwei;LU Jiyun;WANG Yiyao(School of Civil Aviation,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)
出处
《机械科学与技术》
CSCD
北大核心
2022年第9期1334-1339,共6页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(U1933202)
中央高校基本科研业务费资助项目(NJ201812)。
