| 智能气动肌肉的静态驱动特性研 |
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| 引用本文： | 王斌锐,周唯逸,许宏.智能气动肌肉的静态驱动特性研[J].农业机械学报,2009,40(3):208-212. |
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| 作者姓名： | 王斌锐 周唯逸 许宏 |
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| 作者单位： | 中国计量学院机电工程学院,杭州,310018 |
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| 基金项目： | 国家自然科学基金，浙江省教育厅资助项目 |
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| 摘 要： | 研究了形状记忆合金丝(SMA)编织网的主动变形及对气动肌肉静态驱动特性的影响.建立了SMA丝内应力与静态驱动力的平衡方程.针对升降温中SMA丝的相变,分析了马氏体和奥氏体体积比变化,建立了温度SMA收缩率模型,并应用到气动肌肉的收缩率、收缩力和刚密度特性计算中.Matlab仿真得到了SMA变形曲线和气动肌肉特性变化曲面.分析结果表明SMA变形存在迟滞,SMA主动伸缩使得编织角变化范围更广,刚密度变化更突出.SMA收缩率变大,气动肌肉收缩力增强.
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| 关 键 词： | 气动肌肉 形状记忆合金 仿真 机器人 |
Actuating Characteristics of Intelligent Pneumatic Muscle |
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| Wang Binrui,Zhou Weiyi,Xu Hong.Actuating Characteristics of Intelligent Pneumatic Muscle[J].Transactions of the Chinese Society of Agricultural Machinery,2009,40(3):208-212. |
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| Authors: | Wang Binrui Zhou Weiyi Xu Hong |
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| Institution: | School of Mechanical and Electrical Engineering;China Jiliang University;Hangzhou 310018;China |
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| Abstract: | Deformation of shape memory alloy(SMA) fiber shell was studied and the intelligent pneumatic muscle(IPM) with SMA shell was proposed to improve actuating characteristics.Output force equation of IPM was established through axial and radial static force equilibrium analysis between fiber stress and external force.The equation between temperature and contraction ratio of SMA wire was deduced by analyzing the volume ratio of martensite to austenite during crystalline structure shift between two different phase... |
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| Keywords: | Pneumatic muscle Shape memory alloy Simulation Robot |
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