【作者】 张超；

【导师】 孙柏青；

【作者基本信息】 沈阳工业大学 ， 控制理论与控制工程， 2010， 硕士

【摘要】 追求更高功率密度的执行机构是现代工业发展的一个重要方向,也是一个课题难点。随着制造业和机器人等领域的高速发展,开发具有精密加工能力,体积小、重量轻,能提供高能量密度的执行机构成为日益迫切的需求。采用传统技术制造的基于电机的执行器已经很难满足需求。新型执行器的研究得到了广泛的关注,其中利用新型功能材料制造的执行器就是对传统执行器的发展。形状记忆合金作为一种典型的新型功能材料,已经在多个领域得到应用。SMA执行器是一种全新意义上的新型执行机构。它能集控制、换能、致动于一身,利用SMA材料独特的形状记忆效应(Shape Memory Effect,SME),辅以一定的偏动装置(弹簧或弹性体),通过特定的控制手段,构成双程可逆致动元件,实现机电能量的转换。基于SMA的执行器具有功率质量比大、结构简单、控制灵活、动作连续柔和等特点,因此在装配机器人、医疗器械等方面都有很大的应用价值。本文在前人研究的基础上对内嵌式形状记忆合金执行器的结构进行了改进和优化,并研制了执行器样机。设计并制造了基于SMA执行器系统,包括执行器样机、驱动电路、温度检测电路、基于LabVIEW的上位机系统。创新的提出一种基于温差电致冷组件和弹性橡胶棒分别作为驱动和偏动元件的新型执行器结构,并设计了驱动电路。设计了SMA执行器的温度检测机构。包括热敏电阻的选型、安装以及电桥电路输出电压与温度之间关系的实验研究。更多还原

【Abstract】 With the rapid development of manufacturing and robotics, it is increasingly pressing for developing the actuator with precision processing capacity, small size, light weight, high reliability and energy density provision. It is unsatisfied with actuators based on the conventional electrical machines. It is increasingly focused in the field of new actuator manufacturing, especially, actuators based on functional materials.Shape Memory Alloy (SMA) has been applied in many fields as a typical new functional material. SMA actuator is a new sense of the actuating mechanism. It unites controlling, converting energy and actuating, and uses the unique shape memory effect of SMA material and the specific bias gear to form the double passing and reversible actuating component in order to realize the electromechanical energy conversion by the specific control methods. The actuator with SMA has the characteristics of big power mass rate, simple structure, flexible control and continuously action so that it has immense value in practice in terms of robot assembling and medical apparatus and instruments.In this paper, the structure of embedded shape memory alloy actuator has been improved and optimized on the basis of predecessors, and the experimental prototype was manufactured. The actuator system based on SMA has been designed and manufactured, it unites experimental prototype, driver circuit, temperature detection circuit and upper computer based on LabVIEW.A new SMA actuator structure that Thermoelectric Module(TEM) as the driving device and the flexible rubber rod as the bias gear was innovation presented, and the driver circuit was manufactured. The temperature testing organization has been designed, it unites the selection of the resistor model, the installation of the resistor, the relation between temperature and output voltage of bridge circuit is analyzed theoretically and experimentally.更多还原