智能气动肌肉的静态驱动特性研究  

Static Actuating Characteristics of Intelligent Pneumatic Muscle

作　　者：王斌锐[1] 周唯逸[1] 许宏[1] 

机构地区：[1]中国计量学院机电工程学院,杭州310018

出　　处：《农业机械学报》2009年第3期208-212,193,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(50475107);浙江省教育厅项目(20070673)

摘　　要：研究了形状记忆合金丝(SMA)编织网的主动变形及对气动肌肉静态驱动特性的影响。建立了SMA丝内应力与静态驱动力的平衡方程。针对升降温中SMA丝的相变,分析了马氏体和奥氏体体积比变化,建立了温度-SMA收缩率模型,并应用到气动肌肉的收缩率、收缩力和刚密度特性计算中。Matlab仿真得到了SMA变形曲线和气动肌肉特性变化曲面。分析结果表明SMA变形存在迟滞,SMA主动伸缩使得编织角变化范围更广,刚密度变化更突出。SMA收缩率变大,气动肌肉收缩力增强。Deformation of shape memory alloy（SMA） fiber shell was studied and the intelligent pneumatic muscle（IPM） with SMA shell was proposed to improve actuating characteristics.Output force equation of IPM was established through axial and radial static force equilibrium analysis between fiber stress and external force.The equation between temperature and contraction ratio of SMA wire was deduced by analyzing the volume ratio of martensite to austenite during crystalline structure shift between two different phases.This ratio was adopted to analyze the contraction ratio,contraction force and variable stiffness of intelligent pneumatic muscle.SMA deformation and characteristics test simulations were conducted in Matlab and different pneumatic muscles＇ characteristics were compared.The results show there is hysteresis in SMA deformation and IPM can get greater bias angle and more flexible stiffness variation by adjusting SMA contraction ratio.The greater the SMA contraction ratio is,the bigger the contraction force of IPM is.

关 键 词：气动肌肉 形状记忆合金 仿真 机器人 

分 类 号：S22[农业科学—农业机械化工程] TP242.6[农业科学—农业工程]