SMA高性能机器人执行器的研制

Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI:10.1109/ICAR.1991.240475

D. Raynaerts, H. Van Brussel

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引用次数: 32

摘要

提出了一种基于形状记忆合金(SMA)的高性能机器人执行器原型。从对材料性能的详细了解出发，提出了最合适的加热和冷却方式。此外，确定了主动元件的“最佳”形状，并提出了一种基于(T, sigma, epsilon)行为仿真的控制方法

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Development of a SMA high performance robotic actuator

A prototype of a high performance robotic actuator, based on shape memory alloys (SMA), is proposed. Starting from detailed knowledge about the material behaviour, the most suitable way of heating and cooling is proposed. Furthermore an 'optimal' shape of the active element is determined and a control method based on simulation of the (T, sigma , epsilon ) behaviour is proposed.<>

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Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments

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