CAJ | 학술논문

介绍了一种基于SMA弹簧的紧凑型柔性电机结构。三只SMA弹簧偏心嵌入室温硫化的双组分硅胶棒中,弹簧与丝除在端部通过两个固定片连接外,其他部分可自由地相对运动。通过占空比可调的电流脉冲加热SMA弹簧,控制其收缩变形,可实现电机的柔性空间运行。这一低功耗、高功率重量比、可直接驱动的紧凑型柔性电机,可望在拟人机械手及其他微小型机器人系统中得到实用。本文分析了弹性棒在集中与分布载荷作用下的形变理论,对硅胶棒与SMA弹簧的关键参数进行了研究并详细推导了二者的设计过程。最后,进行了样机研制的工艺探讨并制作了样机,对样机进行的实验研究,验证了设计电机的性能。
개소료일충기우SMA탄황적긴주형유성전궤결구。삼지SMA탄황편심감입실온류화적쌍조분규효봉중,탄황여사제재단부통과량개고정편련접외,기타부분가자유지상대운동。통과점공비가조적전류맥충가열SMA탄황,공제기수축변형,가실현전궤적유성공간운행。저일저공모、고공솔중량비、가직접구동적긴주형유성전궤,가망재의인궤계수급기타미소형궤기인계통중득도실용。본문분석료탄성봉재집중여분포재하작용하적형변이론,대규효봉여SMA탄황적관건삼수진행료연구병상세추도료이자적설계과정。최후,진행료양궤연제적공예탐토병제작료양궤,대양궤진행적실험연구,험증료설계전궤적성능。
A new structure of compact flexible actuator based on shape memory alloy （SMA） springs is first presented. Three SMA springs, which are trained to shrink as the phase transition occurs, are embedded off-axially and movably in silicone rubber rod solidified at room temperature. The spatial bending, which is accomplished through heating SMA springs by suitable current, can restore flexibly as soon as stopping heating. Thus, the compact, flexible, mechanical and electrical incorporation actuator is completed. Be provided with the merits such as high load-weight ratio, low energy dissipation and direct driving, the actuators can realize miniature configuration, simple drive and control and flexible movement pose synthetically. After analyzing equilibrium of elastic rod with distributed and concentrated loads, the parameters design process of the rod and SMA spring are deduced. Subsequently, the manufacture of the prototype is discussed in details. Finally, the experiments of the actuator proof fine qualities of the operation performances.