组合式形状记忆合金驱动器的轨迹规划与实现  

Track plan and realization of novel sectional shape memory alloy actuator

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,湖北武汉430074

出　　处：《华中科技大学学报（自然科学版）》2007年第10期91-94,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(50507007)

摘　　要：将形状记忆合金(SMA)丝嵌入弹性棒可构成形状记忆合金驱动器(SMAA).采用两台SMAA构成的组合式记忆合金驱动器可实现偏动元件与致动元件、驱动单元与执行单元的高度集成,且运行范围与操作能力均得到提高.在机械手操作规划基础上,研究了组合式记忆合金驱动器在关节空间的轨迹规划方法、算法与过程.采用B样条插值,对组合式驱动器进行了轨迹规划,给出了规划后弯曲角的变化轨迹.基于应变反馈的原理,选择了半导体应变片,进行了斜坡轨迹跟踪实验,结果表明实际轨迹能够准确跟踪设定轨迹.The shape memory alloy actuator（SMAA） is actually an elastic rod with embedded shape memory alloy（SMA） wires.The sectional SMAA,which is consisting of two SMAAs and a connecting part,have the abilities of integrating actuation components with deflexion components and serve as not only driving elements but also executing elements.Further more,the move range and operation ability are improved greatly.On the basis of the robot hand′s operation plan,the track plan′s methods,arithmetic and process are examined.By the means of B spline fit,the track plan is completed.The position and deflection angles at different crunodes of two elemental SMAAs are presented by charts.Moreover,the planed tracks of angles are derived finally.Making use of strain feedback,the stain gauges are selected to carry out close-loop control of track from the ramp experiments,it is shown obviously that the real track suits the desired track well.

关 键 词：形状记忆合金驱动器 组合式 轨迹规划 B样条插值 

分 类 号：TM352[电气工程—电机]