【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 ,实现了基于SMA电阻反馈的变结构滑模控制策略探讨和实验研究更多还原

【Abstract】 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.更多还原