形状记忆合金驱动的曲柄滑块机构多目标优化设计  

Multi-objective optimization design for slider-crank mechanism driven by shape memory alloy

作　　者：唐元贵[1] 张艾群[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016

出　　处：《机械设计与制造》2011年第6期49-51,共3页Machinery Design & Manufacture

基　　金：中国科学院知识创新工程青年人才领域前沿项目(07A6170601)

摘　　要：提出了一种应用于水下机器人方向舵、滑块为原动件的曲柄滑块传动机构,形状记忆合金差动驱动是该机构的突出特点。分析了形状记忆合金差动驱动的曲柄滑块机构运动机理,基于形状记忆合金驱动器的变形能力和力学性能,采用多目标优化设计理论和算法,对形状记忆合金差动驱动的滑块行程和作用在滑块上的初始驱动力进行了综合优化,得到了曲柄滑块机构的结构优化参数,同时为形状记忆合金差动驱动器的性能参数设计提供了理论依据和设计准则。虚拟样机仿真试验验证了机构良好的驱动和传动性能。A slider-crank mechanism used in the rudder mechanism of underwater vehicle is presented,in which the slider is the driving link.The adoption of Shape Memory Alloy（SMA）differential driver is the main trait of this mechanism.The motion principle of the slider-crank mechanism differential driven by SMA is analyzed.Based on distortion ability and mechanical performance of the SMA driver,the multi-objective optimization theory and algorithm are adopted for the comprehensive optimization of the displacement of slider driven by SMA and the initial force acted on the slider.As a result,the optimized parameters of the slider-crank mechanism are obtained,meanwhile,theoretical references and design rules for performance parameters design of the slider-crank mechanism driven by SMA are proposed.The simulation results from the virtual prototype prove that the mechanism be endowed with good performance in the driving performance and transmissible capacity.

关 键 词：水下机器人方向舵 形状记忆合金差动驱动器 曲柄滑块机构 多目标优化 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]