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首页> 外文期刊>Smart Materials & Structures >A two-degrees-of-freedom miniature manipulator actuated by antagonistic shape memory alloys
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A two-degrees-of-freedom miniature manipulator actuated by antagonistic shape memory alloys

机译：对抗性形状记忆合金致动的两自由度微型机械手

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摘要

This paper presents a miniature manipulator that can provide rotations around two perpendicularly intersecting axes. Each axis is actuated by a pair of shape memory alloy (SMA) wires. SMA wire actuators are known for their large energy density and ease of actuation. These advantages make them ideal for applications that have stringent size and weight constraints. SMA actuators can be temperature-controlled to contract and relax like muscles. When correctly designed, antagonistic SMA actuators have a faster response and larger range of motion than bias-type SMA actuators. This paper proposes an antagonistic actuation model to determine the manipulator parameters that are required to generate sufficient workspace. Effects of SMA prestrain and spring stiffness on the manipulator are investigated. Taking advantage of proper prestrain, the actuator size can be made much smaller while maintaining the same motion. The use of springs in series with SMA can effectively reduce actuator stress. A controller and an anti-slack algorithm are developed to ensure fast and accurate motion. Speed, stress, and loading experiments are conducted to demonstrate the performance of the manipulator.
机译：本文提出了一种微型机械手，它可以绕两个垂直相交的轴提供旋转。每个轴由一对形状记忆合金（SMA）线驱动。 SMA导线执行器以其高能量密度和易于执行操作而闻名。这些优点使其非常适合具有严格尺寸和重量限制的应用。 SMA执行器可以进行温度控制，以像肌肉一样收缩和放松。如果设计正确，那么与偏置型SMA致动器相比，对抗性SMA致动器具有更快的响应速度和更大的运动范围。本文提出了一种对抗致动模型，以确定产生足够的工作空间所需的机械手参数。研究了SMA预应变和弹簧刚度对机械手的影响。利用适当的预应力，可以在保持相同运动的同时减小执行器的尺寸。与SMA串联使用的弹簧可有效降低执行器应力。开发了控制器和抗松弛算法以确保快速准确的运动。进行速度，压力和负载实验以证明机械手的性能。

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