新型SMA驱动器设计与控制  

Design and Control of Novel SMA Actuator

作　　者：杨凯[1] 辜承林[1] 史铁林[2] 马志云[1] 

机构地区：[1]华中科技大学电气与电子工程学院,武汉430074 [2]华中科技大学机械工程学院,武汉430074

出　　处：《机械设计与研究》2004年第2期26-28,共3页Machine Design And Research

摘　　要：介绍了一种新型SMA驱动器。该驱动器实际上是偏心内嵌有单程SMA丝的弹性硅胶棒。它集成了驱动单元和执行单元的功能 ,特别适于作为小型和微型机器人系统中的致动元件。以弹性棒变形理论为基础 ,研究了驱动器的机械和力学特性。最后 。A novel shape memory alloy(SMA)actuator consisting of a cylindrical rod with a single off-axis embedded one-way SMA wire is first described.The actuators,acting as both actuating elements and executing elements,are compact enough to be used in miniature robot system.The practical specifications of the SMA wire and the flexible rod were determined based on a series of formulae.The mechanical properties of the actuator are also investigated.Besides,with position detection and SMA's resistance feedback sliding mode control strategies are investigated theoretically and experimentally.

关 键 词：形状记忆合金 驱动器 设计 弹性棒 变结构控制 电阻反馈 

分 类 号：TP215[自动化与计算机技术—检测技术与自动化装置] TG139.6[自动化与计算机技术—控制科学与工程]