), 杨天洋a, 敬忠良b, 刘物己b 上海交通大学 a.空间结构研究中心, 上海 200240
b.航空航天学院, 上海 200240
收稿日期:2020-07-08出版日期:2021-08-28发布日期:2021-08-31通讯作者:陈务军E-mail:cwj@sjtu.edu.cn作者简介:滕亚军(1997-),男,四川省南充市人,硕士生,研究方向为软体机器人基金资助:国家自然科学基金项目(61673262);上海市科学技术委员会重点项目(16JC1401100)Dynamics Analysis of Flexible Manipulator Driven by SMA Spring
TENG Yajuna, CHEN Wujuna(), YANG Tianyanga, JING Zhongliangb, LIU Wujib a. Institute of Space Structure, Shanghai 200240, China
b. School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, China
Received:2020-07-08Online:2021-08-28Published:2021-08-31Contact:CHEN Wujun E-mail:cwj@sjtu.edu.cn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
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