SMA弹簧驱动的柔性操控臂动力学分析

doi:10.16183/j.cnki.jsjtu.2020.207

摘要/Abstract

摘要：

结合由智能材料驱动的柔性机器人与正八面体可变几何桁架体系,以正八面体可变几何桁架体系为理论基础,以并联形状记忆合金(SMA)弹簧作为结构驱动体系,设计单节柔性单元.通过几何法建立运动学模型,分析柔性操控臂的动能、弹性势能和重力势能,基于拉格朗日动力学方法获得动力学普遍方程.运用MATLAB软件计算得到单节柔性单元SMA弹簧的驱动力.进行Adams仿真,计算结果和理论计算结果吻合得较好.最后,制作单节柔性操控臂样机并测量不同电流下的转动角度.建模和仿真方法对于其他类型机器人具有借鉴意义.

关键词: 形状记忆合金, 柔性操控臂, 运动学, 动力学, Adams仿真

Abstract:

Combining the flexible robot driven by intelligent materials with the octahedral variable geometry truss system, and based on the theory of octahedral variable geometry truss system, a single flexible unit is designed and driven by parallel shape memory alloy (SMA) spring. The kinematic model is established by utilizing the geometric method. The kinetic energy, the elastic potential energy, and the gravitational potential energy of the flexible manipulator are analysed. The general dynamics equation is established based on the Lagrangian dynamics. The driving force of a single flexible element of SMA spring is calculated by utilizing MATLAB. Adams simulation is performed, and the calculation results are in good agreement with the theoretical calculation results. Finally, a prototype of the flexible control arm is built and the rotation angles at different currents are measured. Modeling and simulation methods are useful references for other types of robots.

Key words: shape memory alloy (SMA), flexible manipulator, kinematics, dynamics, Adams simulation

中图分类号:

TP242

滕亚军, 陈务军, 杨天洋, 敬忠良, 刘物己. SMA弹簧驱动的柔性操控臂动力学分析[J]. 上海交通大学学报, 2021, 55(8): 1018-1026.

TENG Yajun, CHEN Wujun, YANG Tianyang, JING Zhongliang, LIU Wuji. Dynamics Analysis of Flexible Manipulator Driven by SMA Spring[J]. Journal of Shanghai Jiao Tong University, 2021, 55(8): 1018-1026.

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参数	取值
r_B/mm	172
r_t/mm	157
θ₁、θ₂、θ₃/(°)	45
θ_B/(°)	133
x_c/mm	0
y_c/mm	0
z_c/mm	112
φ₁/(°)	90
φ₂/(°)	210
φ₃/(°)	330
m_t/kg	0.1
J_x/(kg·m²)	674.62
J_y/(kg·m²)	438.31
J_z/(kg·m²)	572.10
d/mm	0.51
r/mm	1.725
n	135

参数	取值
E_A/GPa	21.6
E_M/GPa	8.8
ν	0.33
ε_L	0.067

Ψ	F_max/N	F_min/N
π/4	3.1	-1.5
π/6	2.6	-0.7
π/12	2.0	0.2