Modeling a Flexible Miniature Module Actuated by Shape Memory Alloys
Modeling a Flexible Miniature Module Actuated by Shape Memory Alloys
复制标题
对由形状记忆合金驱动的柔性微型模块进行建模
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
Alireza Hadi
中科院分区：
文献类型：
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作者：
Alireza Hadi
小型机械手在有限空间的应用中具有特殊的作用。一些有吸引力的应用是有源导管，适合微创手术中的工具以及在小空间中的夹持和操纵。另一方面，模块化机器人系统是快速增长的解决方案的情况下，机械手应扩展到不同的应用。应用模块的特性直接影响到所开发系统的整体性能和性能。SMA驱动器的主要应用是开发微型系统。在本文中，首先，介绍了一个基本概念，开发一个灵活的模块。在所提出的工作中，通过将线附加在柔性梁上，SMA致动器的小应变导致模块中的较大变形。该模块集成了几个形状记忆合金（SMA）致动器，以在通过柔性梁彼此连接的两个平行板之间产生相对偏转。SMA驱动器嵌入在柔性梁周围，以在驱动后产生不同方向的偏转。通过以串联方式连接各种模块，可以开发机械手。在机械手的设计过程中，机电一体化的方法被认为是。通过设计过程，在Matlab的Simulink中对系统的动态建模进行了仿真。以这种方式，先前验证的Brinson模型用于SMA模型。所提供的仿真平台有助于优化设计模块的尺寸。最后，一个正常工作的模块的规格建议申请作为一个机械手。关键词-建模，柔性，形状记忆合金，模块。
Miniature manipulators have a special role in applications that limited spaces exist. Some attractive applications are active catheters suitable tools in minimally invasive surgery and gripping and manipulating in small spaces. On the other hand, modular robotic systems are fast growing solutions for cases where the manipulator should be extended for different applications. The features of the applied module direct affect the overall property and performance of the developed system. The major application of SMA actuators is developing miniature systems. In this paper, first of all, a basic concept for developing a flexible module is introduced. In the presented work, by attaching the wire on a flexible beam, the small strain of the SMA actuator resulted in a larger deformation in the module. The module incorporates several Shape Memory Alloy (SMA) actuators to create relative deflection between two parallel plates connected to each other through a flexible beam. SMA actuators are embedded around the flexible beam to produce deflection in different directions after actuation. By connecting various modules in a serial manner, a manipulator could be developed. In the design process of manipulator, a mechatronics approach is considered. Through the design process, the dynamic modeling of the system is simulated in Simulink of Matlab. In this way, previously verified model of Brinson is used for SMAs model. The provided platform of simulation assists in optimizing the dimensions of the designed module. Finally, the specification of a module working properly is suggested for applying as a manipulator. Keywords— Modeling, Flexible, Shape Memory Alloy, Module.