Fundamental Study of a Position-keeping Module Using a Shape-memory Polymer
Fundamental Study of a Position-keeping Module Using a Shape-memory Polymer
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使用形状记忆聚合物的位置保持模块的基础研究
DOI：
10.7210/jrsj.28.905
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
Shijie Guo
中科院分区：
文献类型：
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作者：
Kazuto Takashima;N. Zhang;T. Mukai;Shijie Guo
在玻璃化转变温度以上，形状记忆聚合物 (SMP) 可以通过施加小载荷而变形。它们在冷却到玻璃化转变温度以下后保持其形状，然后在加热到玻璃化转变温度以上时恢复到预定形状。 SMP 的玻璃态和橡胶态之间的弹性模量可逆变化约为 100 至 1000 倍。利用这些特性，本研究旨在评估使用 SMP 的位置保持模块的基本性能。当该位置保持模块被加热到高于其玻璃化转变温度时，SMP 会变形，并且模块会在施加小负载时变形。当定位模块达到所需长度后，冷却至玻璃化转变温度以下，无需供电即可将SMP固定在刚性状态。对 SMP 管进行的初步概念验证研究的实验结果证实了使用 SMP 制造可靠、轻便且低成本的机器人手臂位置保持模块的可行性。
Above their glass transition temperature, shape-memory polymers (SMPs) can be deformed by applying a small load. They maintain their shape after they have been cooled below the glass transition temperature, and then return to a predefined shape when heated above the glass transition temperature. The reversible change in the elastic modulus between the glassy and rubbery states of SMPs can be of the order of 100 to 1000 times. Exploiting these characteristics, this study seeks to evaluate the fundamental performance of a position-keeping module that uses an SMP. When this position-keeping module is warmed above its glass transition temperature, the SMP deforms and the module deforms on applying a small load. After the position-keeping module reaches a desired length, it is cooled to below the glass transition temperature and the SMP can be fixed in a rigid state without supplying electric power. The experimental results of a preliminary proof-of-concept investigation conducted on SMP tubes confirm the feasibility of using an SMP to fabricate a reliable, light and low-cost position-keeping module for a robot arm.