【摘要】 针对孔探仪探头自动弯曲避障的工作需求,设计并实现了一种由双程形状记忆合金(shape memory alloy,简称SMA)丝驱动的自主弯曲机构。搭建了SMA丝作动特性测试平台,对SMA丝的驱动行为特性进行系统的分析,发现直径为0.5 mm的SMA丝收缩率达到4%,可带载83.23 N,满足孔探仪弯曲的驱动要求。此外,建立了可弯曲孔探仪机构的运动学模型,得到了末端搭载光学镜头的可达空间。同时对机构进行了控制试验,结果表明,机构的最大弯曲角度为22.3°,所设计的孔探仪可弯曲机构具有实用性。更多还原

【Abstract】 Aiming at the working requirements of the automatic bending and obstacle avoidance of the hole detector,an autonomous bending mechanism driven by a two-way shape memory alloy(SMA)wire is designed. The SMA wire actuation characteristic test platform is built,and the driving behavior of SMA wire is systematically analyzed. It is found that the shrinkage rate of the SMA wire with a diameter of 0.5 mm reached 4%,and its load capacity reaches 83.23 N,satisfying the driving requirements of the hole detector bending. In addition,the kinematics model of the bendable hole probe mechanism is established,and the reachable space of the end mounted optical lens is obtained. Furthermore,the control experiment of the mechanism is carried out,and the result shows that the maximum bending angle of the mechanism is 22.3°. The autonomous bending mechanism designed in this paper has practicality.更多还原