【摘要】 提出采用形状记忆合金(SMA)丝制作编织网的智能气动肌肉方案。设计了机构模型和特性测试平台,分析了编织网的几何特征,并建立了驱动力输出模型。引入SMA收缩变形,推导了收缩率、单位截面积收缩力和变刚度等特性的计算公式。利用MATLAB对智能气动肌肉和传统气动肌肉的特性进行了仿真和对比。仿真结果表明,智能气动肌肉编织角范围更广、单位截面积收缩力更大、刚度变化更灵活,且驱动特性可通过SMA编织网调节,性能优于传统气动肌肉,更接近人类肌肉。更多还原

【Abstract】 Intelligent pneumatic muscle(IPM) with shape memory alloy(SMA) fiber shell was proposed.Mechanism and characteristics test bed were designed and described.The actuator force model was presented.Contraction ratio of SMA fiber was used in characteristics study.Static actuating characteristics computing expressions were derived including contraction ratio,contraction force per section,stiffness and stiffness density variation.Simulations of characteristics were done and comparatively analyzed using MATLAB.The results demonstrate IPM has greater bias angle,contraction force and flexible stiffness variation.The main advance is that the characteristics of IPM can be adjusted by SMA deform,more similar to human biological muscle than common pneumatic muscle.更多还原