全集成空间弯曲形状记忆合金电机研究与应用  

Research and Application of Entirely-integrated Spatial-bending SMA Actuators

作　　者：杨凯[1] 辜承林[1] 

机构地区：[1]华中科技大学电气与电子工程学院,湖北省武汉市430074

出　　处：《中国电机工程学报》2007年第12期24-27,共4页Proceedings of the CSEE

基　　金：国家自然科学基金项目(50507007)~~

摘　　要：提出了全集成空间弯曲形状记忆合金电机新结构,将经过记忆处理的三根SMA丝在室温时嵌入液态硅橡胶中固化,同时集成位置传感元件与连接导线,使棒体在SMA通电升温后产生的空间弯曲变形能在断电后自如恢复,由此构成紧凑型机电一体化双程可逆致动元件。在详细阐述电机运行原理基础上,设计了基于六片应变片的曲率传感器,实现精密位置控制。进行内嵌单根SMA丝弹性棒的受力分析后,推导了形变分析数值计算方程。同时,运用叠加原理得出了近似算法并与数值计算方法进行对比研究。最后,将ESSMAA直接用作拟人手拇指主动指节,结合平面弯曲SMA电机,构建了三指六指节机械手样机,单机与多机实验验证了ESSMAA及机械手的良好运行控制品质。A new structure of entirely-integrated spatialbending shape memory alloy actuators（ESSMAA） is first presented. Three SMA wires, which are trained to remember ＂U＂ recovery shape, are embedded in liquid silicone rubber to be solidified upon room temperature, in company with displacement sensors and connective wires. The spatial bending, which is accomplished through heating SMA wires by suitable current, can restore flexibly as soon as stopping heating. Thus, the compact, two-way, mechanical and electrical incorporation actuator is completed. On the basis of expounding the operation principle in detail, the curvature sensor, which is composed of six stain gauges, makes displacement control precise. After analyzing equilibrium of forces and moments, the numeric calculation equations are deduced. Subsequently, the approximate arithmetic making use of superpose principle is researched in contrast with numeric arithmetic. Finally, the ESSMAA is served for thumb＇s leading knuckle to develop three-fingered robot hand cooperating with planar bending SMA actuators. The experiments of single actuators and several actuators proof well operation and control qualities of hand.

关 键 词：全集成空间弯曲形状记忆合金电机 弯曲变形 曲率传感器 多指 拟人机械手 

分 类 号：TM34[电气工程—电机]