SMA弹簧驱动的柔性操控臂动力学分析

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SMA弹簧驱动的柔性操控臂动力学分析

滕亚军^a, 陈务军^a(

), 杨天洋^a, 敬忠良^b, 刘物己^b

Dynamics Analysis of Flexible Manipulator Driven by SMA Spring

TENG Yajun^a, CHEN Wujun^a(

), YANG Tianyang^a, JING Zhongliang^b, LIU Wuji^b

图3. 当Ψ= $π 4$ 时的柔性臂运动形态

Fig.3. Kinematic forms of flexible manipulator at Ψ= $π 4$