形状记忆合金变刚度软作动器设计
TP242%TH11; 软体材料作动器具有良好的目标抓取适应性,为实现软作动器结构的轻量化,保证抓取与承载能力,采用形状记忆合金丝作为驱动元件,设计出一种可变刚度的软作动器.首先,基于形状记忆合金(shape memory alloy,简称SMA)一维本构关系建立了作动器的弯曲变形力学模型;其次,通过实验对力与变形之间的关系进行了验证,弯曲变形与理论结果一致;最后,通过回弹结构的动力学设计,使得该作动器能够在恢复阶段快速回到初始形态.实验结果显示,加热用于变刚度的形状记忆合金丝可显著提升作动器的负载能力,从而达到变刚度的效果....
Saved in:
| Published in | 振动、测试与诊断 Vol. 43; no. 6; pp. 1164 - 1168 |
|---|---|
| Main Authors | , , , |
| Format | Journal Article |
| Language | Chinese |
| Published |
南京航空航天大学机械结构力学及控制国家重点实验室 南京,210016
01.12.2023
|
| Subjects | |
| Online Access | Get full text |
| ISSN | 1004-6801 |
| DOI | 10.16450/j.cnki.issn.1004-6801.2023.06.017 |
Cover
Loading…
| Abstract | TP242%TH11; 软体材料作动器具有良好的目标抓取适应性,为实现软作动器结构的轻量化,保证抓取与承载能力,采用形状记忆合金丝作为驱动元件,设计出一种可变刚度的软作动器.首先,基于形状记忆合金(shape memory alloy,简称SMA)一维本构关系建立了作动器的弯曲变形力学模型;其次,通过实验对力与变形之间的关系进行了验证,弯曲变形与理论结果一致;最后,通过回弹结构的动力学设计,使得该作动器能够在恢复阶段快速回到初始形态.实验结果显示,加热用于变刚度的形状记忆合金丝可显著提升作动器的负载能力,从而达到变刚度的效果. |
|---|---|
| AbstractList | TP242%TH11; 软体材料作动器具有良好的目标抓取适应性,为实现软作动器结构的轻量化,保证抓取与承载能力,采用形状记忆合金丝作为驱动元件,设计出一种可变刚度的软作动器.首先,基于形状记忆合金(shape memory alloy,简称SMA)一维本构关系建立了作动器的弯曲变形力学模型;其次,通过实验对力与变形之间的关系进行了验证,弯曲变形与理论结果一致;最后,通过回弹结构的动力学设计,使得该作动器能够在恢复阶段快速回到初始形态.实验结果显示,加热用于变刚度的形状记忆合金丝可显著提升作动器的负载能力,从而达到变刚度的效果. |
| Abstract_FL | The soft gripper exhibits high adaptability when grasping a target.In order to achieve the lightweight design while ensuring capacity of grasping and carrying,the shape memory alloy(SMA)wire is utilized as the actuation source in the paper.The phase transformation characteristics of shape memory alloys are applied to per-form the variable stiffness task of a soft actuator.The one-dimensional constitutive model of the shape memory alloy is established to construct the theoretical model of the bending angle of the actuator.In addition,the defor-mation test for shape memory alloy is carried out.Obtained results show that the theoretical model can reflect the actual bended angle.Moreover,when the SMA wire for variable stiffness is heated,the load-bearing capac-ity of the actuator is notably improved. |
| Author | 金栋平 任旭 杨书吉 文浩 |
| AuthorAffiliation | 南京航空航天大学机械结构力学及控制国家重点实验室 南京,210016 |
| AuthorAffiliation_xml | – name: 南京航空航天大学机械结构力学及控制国家重点实验室 南京,210016 |
| Author_FL | JIN Dongping WEN Hao YANG Shuji REN Xu |
| Author_FL_xml | – sequence: 1 fullname: REN Xu – sequence: 2 fullname: YANG Shuji – sequence: 3 fullname: WEN Hao – sequence: 4 fullname: JIN Dongping |
| Author_xml | – sequence: 1 fullname: 任旭 – sequence: 2 fullname: 杨书吉 – sequence: 3 fullname: 文浩 – sequence: 4 fullname: 金栋平 |
| BookMark | eNo9j79KQzEchTNUsNa-hwg3_pLcJL2jFP9BwUXnktwk0iopGETsA2jpom5WXHSQTlcnB-Hqyxi8voVXFKcDZzjf-ZZQw4-8RWiVACYi5bA2xLk_HOBBCB4TgDQRHSCYAmUYBAYiG6j53y-idggDDcAZyVhGmyiJ5cPn9KUqnuP7ebyafF1cx8ubOLmNr49V-fRR3sXpPM7mVfFWFffLaMGpo2Dbf9lC-5sbe93tpLe7tdNd7yWBAJM1KtPOUqkpc0oJZ7XQGpSz0mjBWa4zY9LU5qA5tUxqnnHFTQr1xZx0mGQttPK7e6q8U_6gPxydHPua2B-bPJyNzY8fiNqOfQOdK1x3 |
| ClassificationCodes | TP242%TH11 |
| ContentType | Journal Article |
| Copyright | Copyright © Wanfang Data Co. Ltd. All Rights Reserved. |
| Copyright_xml | – notice: Copyright © Wanfang Data Co. Ltd. All Rights Reserved. |
| DBID | 2B. 4A8 92I 93N PSX TCJ |
| DOI | 10.16450/j.cnki.issn.1004-6801.2023.06.017 |
| DatabaseName | Wanfang Data Journals - Hong Kong WANFANG Data Centre Wanfang Data Journals 万方数据期刊 - 香港版 China Online Journals (COJ) China Online Journals (COJ) |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| DocumentTitle_FL | Design of Variable Stiffness Soft Actuator Driven by Shape Memory Alloy |
| EndPage | 1168 |
| ExternalDocumentID | zdcsyzd202306017 |
| GrantInformation_xml | – fundername: (国家自然科学基金); (国家自然科学基金) funderid: (国家自然科学基金); (国家自然科学基金) |
| GroupedDBID | -03 2B. 4A8 5XA 5XD 92H 92I 93N ALMA_UNASSIGNED_HOLDINGS ARCSS CCEZO CEKLB PSX TCJ TGT U1G U5M |
| ID | FETCH-LOGICAL-s1037-689bfe27b23faa6feb6bb0afe7db653cb9dd44ec0b52e37b595a5d40680c18373 |
| ISSN | 1004-6801 |
| IngestDate | Thu May 29 04:11:31 EDT 2025 |
| IsPeerReviewed | false |
| IsScholarly | true |
| Issue | 6 |
| Keywords | shape memory alloy variable stiffness 形状记忆合金 软体作动器 可变刚度 本构模型 constitutive model soft actuator |
| Language | Chinese |
| LinkModel | OpenURL |
| MergedId | FETCHMERGED-LOGICAL-s1037-689bfe27b23faa6feb6bb0afe7db653cb9dd44ec0b52e37b595a5d40680c18373 |
| PageCount | 5 |
| ParticipantIDs | wanfang_journals_zdcsyzd202306017 |
| PublicationCentury | 2000 |
| PublicationDate | 2023-12-01 |
| PublicationDateYYYYMMDD | 2023-12-01 |
| PublicationDate_xml | – month: 12 year: 2023 text: 2023-12-01 day: 01 |
| PublicationDecade | 2020 |
| PublicationTitle | 振动、测试与诊断 |
| PublicationTitle_FL | Journal of Vibration，Measurement & Diagnosis |
| PublicationYear | 2023 |
| Publisher | 南京航空航天大学机械结构力学及控制国家重点实验室 南京,210016 |
| Publisher_xml | – name: 南京航空航天大学机械结构力学及控制国家重点实验室 南京,210016 |
| SSID | ssib005319392 ssib023168178 ssib036436293 ssj0040362 ssib001129465 ssib051372451 ssib007286666 ssib001051226 ssib003154303 |
| Score | 2.373648 |
| Snippet | TP242%TH11; 软体材料作动器具有良好的目标抓取适应性,为实现软作动器结构的轻量化,保证抓取与承载能力,采用形状记忆合金丝作为驱动元件,设计出一种可变刚度的软作动器.首先,基于形状记忆合金(shape memory... |
| SourceID | wanfang |
| SourceType | Aggregation Database |
| StartPage | 1164 |
| Title | 形状记忆合金变刚度软作动器设计 |
| URI | https://d.wanfangdata.com.cn/periodical/zdcsyzd202306017 |
| Volume | 43 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnR3LahRBsEkiiB7EJ76JYF-UjTs9Pf04zuzOEgQ9JZBbmJ6HirCCSQ7uB2jIRb2peNGD5BQ9eRCiv-LBwfUvrKoZdzshYBSWpbeququqa6arera6hrHrSuamEM51jAuyjiwCCfecsZ3CwBXlwMO4Eg8437mrFpfl7ZVoZWb2u5e1tLHuFvLRgedK_seqAAO74inZf7DsZFAAQBvsC99gYfg-lI15GvGkz2PBU81NzBPFU8PjlCddQg24UdiwXW4MTy2Hnb8NEGIG3BpqGG5jIo55TN1xwAFPJTZsj2gARcTWUqNhkbaNOPADXJ4qbno0wqRjiOkUJkBUAsCEOoIAEXEx3KQtBOiBxio-LRJJJAl-EKP3YADQJwZAYkn6RlW7h0Sh1g3r2MNMJgO4dUmoCEdJQv85iAj35ZSQVn0UBJmCej0UHSYxjtEGsUXgFAIsJQLbhqZGn0RVOLkJKQz2Q4Np1NKGhEq5ke0M2sTrRZZrpglmrRkQeCWN7gnaDIlTgpCKIC1eHAKVa1AwOKBAPNNrIbG8eYBioiewdJby_BbmEynTzkfr2Jr6V-0N7HupIGgqx7cRD_w0B3pTJaMuudN8-PABMVqYMFpAG1Dp2-bs7b6q5aMiX3syKgRtcYFklh0RsJELvIcezQMJWA6EX8BQWOn97x5ChB96eQLoMUIvD0ALo7wNuMDXsAXTAnUhxNvKC2ijINRCRpMkMInxG-VDtFodZTf-KH7rr2rTOb9hlQ3veSHp0kl2ot1LzsfNwnCKzYzun2bHvQqjZ1in3n3_c-vzeOdT_e1p_WLz17OX9fNX9eab-suH8e7HH7tv663t-vX2eOfreOfdWbY8SJd6i532DSmdteZ8r7GuKoV2IqyyTFWlU851s6rUhVNRmDtbFFKWOay6ogy1i2yURYXE9-3k4Mt1eI7NDR8Ny_NsPsiFNboqKumsNEWZ6bBS2sksslVQ6vwCu9Yqu9qugGur-4188RA0l9ix6d17mc2tP94or0Bcv-6u0qXxGzDIsRU |
| linkProvider | Directory of Open Access Journals |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=%E5%BD%A2%E7%8A%B6%E8%AE%B0%E5%BF%86%E5%90%88%E9%87%91%E5%8F%98%E5%88%9A%E5%BA%A6%E8%BD%AF%E4%BD%9C%E5%8A%A8%E5%99%A8%E8%AE%BE%E8%AE%A1&rft.jtitle=%E6%8C%AF%E5%8A%A8%E3%80%81%E6%B5%8B%E8%AF%95%E4%B8%8E%E8%AF%8A%E6%96%AD&rft.au=%E4%BB%BB%E6%97%AD&rft.au=%E6%9D%A8%E4%B9%A6%E5%90%89&rft.au=%E6%96%87%E6%B5%A9&rft.au=%E9%87%91%E6%A0%8B%E5%B9%B3&rft.date=2023-12-01&rft.pub=%E5%8D%97%E4%BA%AC%E8%88%AA%E7%A9%BA%E8%88%AA%E5%A4%A9%E5%A4%A7%E5%AD%A6%E6%9C%BA%E6%A2%B0%E7%BB%93%E6%9E%84%E5%8A%9B%E5%AD%A6%E5%8F%8A%E6%8E%A7%E5%88%B6%E5%9B%BD%E5%AE%B6%E9%87%8D%E7%82%B9%E5%AE%9E%E9%AA%8C%E5%AE%A4+%E5%8D%97%E4%BA%AC%2C210016&rft.issn=1004-6801&rft.volume=43&rft.issue=6&rft.spage=1164&rft.epage=1168&rft_id=info:doi/10.16450%2Fj.cnki.issn.1004-6801.2023.06.017&rft.externalDocID=zdcsyzd202306017 |
| thumbnail_s | http://utb.summon.serialssolutions.com/2.0.0/image/custom?url=http%3A%2F%2Fwww.wanfangdata.com.cn%2Fimages%2FPeriodicalImages%2Fzdcsyzd%2Fzdcsyzd.jpg |