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提出了一种可应用于微小型水下机器人摆动关节的形状记忆合金差动驱动方法及其实验装置。分析了形状记忆合金差动驱动的摆动关节运动机理;针对不同结构参数的形状记忆合金驱动器在不同驱动条件和外界环境下的热力学性能,对形状记忆合金驱动器的响应能力、驱动力及能耗展开实验研究和分析;采用多目标优化设计理论和算法,对形状记忆合金差动驱动器的综合热力学性能进行了优化,得到了满足使用条件的形状记忆合金驱动器最优结构参数和与之匹配的控制量。
A novel shape memory alloy differential drive method and its experimental device that can be applied to the swing joint of a miniature underwater robot are proposed. The mechanism of differential motion of oscillating joints of shape memory alloy was analyzed. The thermodynamic performance of shape memory alloy actuators with different structural parameters under different driving conditions and external environment was analyzed. The response capability, driving force and energy consumption of shape memory alloy actuators were expanded Experimental study and analysis. The multi-objective optimal design theory and algorithm are used to optimize the comprehensive thermodynamic performance of the shape memory alloy differential actuator. The optimum structural parameters and the matching control parameters of the shape memory alloy driver which satisfy the operating conditions are obtained .