勘测机器人SMA驱动器特性研究  

Research on Characteristics of SMA Driver for Survey Robot

作　　者：周鹏 胡波 刘春林 胡小林 董绍江[4] 朱孙科[4] ZHOU Peng;HU Bo;LIU Chun-lin;HU Xiao-lin;DONG Shao-jiang;ZHU Sun-ke(Chongqing Institute of Surveying and Mapping Science and Technology,Chongqing 401120,China;Technology Innovation Center for Spatio-Temporal Information and Equipment of Intelligent City,Ministry of Natural Resources,Chongqing 401120,China;Chongqing Polycomp International Corporation,Chongqing 400082,China;School of Mechatronics and Vehicle Engineering,Chongqing Jiaotong University,Chongqing 400074,China)

机构地区：[1]重庆市测绘科学技术研究院,重庆401120 [2]自然资源部智能城市时空信息与装备工程技术创新中心,重庆401120 [3]重庆国际复合材料股份有限公司,重庆400082 [4]重庆交通大学机电与车辆工程学院,重庆400074

出　　处：《机械工程与自动化》2024年第1期20-21,共2页Mechanical Engineering & Automation

基　　金：重庆市规划和自然资源局重点研发项目资助(E1230050)。

摘　　要：为准确获取SMA驱动的勘测机器人驱动器性能,采用大变形多晶形状记忆合金马氏体相变的三维本构模型描述SMA力学关系,嵌入UMAT用户自定义材料子程序,建立了SMA驱动器的有限元分析模型。研究表明,SMA丝直径对驱动器性能影响较大,驱动器输出力随SMA丝直径增大而增大。研究方法可为同类型的SMA力学性能描述提供参考,研究结果可指导SMA驱动器的设计。In order to accurately obtain the performance of SMA-driven survey robot actuator,the three-dimensional constitutive model of martensitic transformation of large deformation polycrystalline shape memory alloy was used to describe the mechanical relationship of SMA,and the finite element analysis model of SMA actuator was established by embedding UMAT user-defined material subroutine.The results show that the diameter of the SMA wire has a great influence on the performance of the actuator,and the output force of the actuator increases with the increase of the diameter of the SMA wire.The research method can provide a reference for the description of the mechanical properties of the same type of SMA,and the research results can guide the design of SMA actuators.

关 键 词：勘测机器人 形状记忆合金 驱动器 力学特性 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TP391.7[自动化与计算机技术—控制科学与工程]