高技术通讯2017，Vol.27Issue(6)：554-558,5.DOI:10.3772/j.issn.1002-0470.2017.06.009
形状记忆合金(SMA)弹簧驱动器的变形研究
Research on deformation of SMA spring actuators
摘要
Abstract
A deforming model of shape memory alloy ( SMA) spring actuators applicable to soft robots was built with its undetermined parameters of A1, A2, A3, B1, B2 and B3 being obtained, and some experiments were performed to verify the model.Firstly, the undetermined parameter method was used to build a deforming model of SMA springs based on the Clausius-Clapeyron equation and Taylor expansion , and the nonlinear relations among SMA springs ' deformation, load and temperature were described .Secondly , based on the heat balance equation , a temperature changing model of SMA springs under electric heating was built , and a curve was shown to describe the relationship between the heating time and the spring temperature .Thirdly , the deforming experiment was performed in the con-dition that spring is free .Lastly, the models' validity was verified through specified load experiments and specified deformation experiments .The established models were proved to be referential for building the controlling system of soft robots .关键词
形状记忆合金(SMA)/弹簧/变形/弹簧驱动器Key words
shape memory alloy (SMA)/spring/deformation/spring actuator引用本文复制引用
许红伟,费燕琼,朱宇航,王绪..形状记忆合金(SMA)弹簧驱动器的变形研究[J].高技术通讯,2017,27(6):554-558,5.基金项目
国家自然科学基金(51475300)资助项目. （51475300）
