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SMA人工肌肉模块的热力学分析及力位特性研究 预览

Thermodynamic Analysis and Force-Displacement Characteristics Research of SMA-Based Artificial Muscle Module
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摘要 设计了一种SMA人工肌肉直线驱动模块,其具有能量密度高、带载能力强、无声操作、力位输出可控且具备自感知能力等一系列与肌肉极为相似的特性。依据电热驱动原理,通过COMSOL Multiphysics热力学仿真,分析了人工肌肉模块工作过程中的热传递情况及热积累现象。对人工肌肉模块进行了力位输出特性的探究,根据人工肌肉模块的组成特点,提出了一种力位混合控制策略。并将人工肌肉模块与该控制策略应用到单自由度的仿生脚踝中,验证了人工肌肉的驱动性能及力位混合控制策略实现力位分阶可控输出的可行性。 This paper presents an SMA-based artificial muscle linear actuator with a series of characteristics similar to muscles,such as high energy density,strong carrying capacity,silent operation,controllable force output,and self-sensing ability.Firstly,based on the principle of electrothermal driving,the heat transfer and heat accumulation during the working process of the artificial muscle module were analyzed through the thermodynamic simulation of COMSOL Multiphysics.Then,the force-displacement output characteristics of the artificial muscle module were investigated,and according to the characteristics of the artificial muscle module,a force-displacement hybrid control strategy was proposed.Finally,the artificial muscle module and the control strategy were applied to a single-degree-of-freedom bionic pedal to verify the driving performance of the artificial muscle module and the feasibility of the control strategy.
作者 韩广明 董二宝 许旻 杨杰 HAN Guangming, DONG Erbao, XU Min, YANG Jie (Department of Precision Machinery & Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China)
出处 《机械与电子》 2018年第7期55-59,63共6页 Machinery & Electronics
基金 国家自然科学基金面上项目(61773385,61375095)
关键词 形状记忆合金 人工肌肉 热力学仿真 力位混合控制 shape memory alloy artificial muscle thermodynamic simulation force-displacement hybrid control
作者简介 韩广明(1992-),男,山东济宁人,硕士研究生,研究方向为智能材料与柔体机器人;;董二宝(1982-),男,内蒙古呼和浩特人,副教授,主要研究方向为仿生学与机器人、3D打印与生物医学工程、智能材料结构;;许旻(1972-),男,福建晋江人,讲师,研究方向为机器人机构学与仿生机器人;;杨杰(1946-),男,上海人,教授,博士研究生导师,主要研究方向为功能材料基础研究与应用、新型驱动技术与智能机械、仿生机器人与智能机器人。
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