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Study on a Hinge Shape for Outer Frame Micromotion Systems

外框微动系统铰链形状的研究

基本信息

批准号：
13450064
负责人：
HORIE Mikio
金额：
$ 8.32万
依托单位：
Tokyo Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2001
资助国家：
日本
起止时间：
2001 至 2002
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-13450064/
关键词：
Outer Frame Micromotion Systems Injection Molding SMA Coils Shape Memory Polymer Pressure Angles Snap Fits Functional Elements 形状記憶樹脂管状マニピュレータ SMA

项目摘要

First, an outer frame module for micro robots is proposed and developed. The outer frame module has a feature with both structure body transmitted force and torque and actuated control system. This module composed of two links (L1 and L2) and one hinge is made by small injection molding machine. This hinge is called a large-deflective hinge which has large angular displacement about ±45 deg. Of more than elastic region angles. As actuators at the hinge part, the relationship between current and strain of two kinds of SMA, that is, SMA coils and SMA wire is investigated. The two SMA coils were selected as actuators because of its large strain effects. In the theory, the fixed positions of two SMA coils at the hinge part investigated and determined after analyzing the relative angular displacement between L1 a〓 L2 and the pressure angle at the hinge part. In the experiments, the relative angular displacement between L1 and L2 has an angle of more than 40 degrees. In the results, the relation between the input currents of SMA coil and the angular displacement at the hinges w〓 made clear. Moreover, we have proposed a micro dilatation manipulator made by the shape memory polymer(SMP). The SMP can be deformed at more than class transition temperature. Utilizing the SMP characteristics, a tube-shaped micro dilatation manipulator of a 1-mm inside diameter and a 100-mm length are developed. The tube with the heater part was made, and the no good points of the heater part is revealed. Then, a new tube manufacturing method to obtain the constant thickness tube (Thickness: 250±25μn), under the manufacturing conditions that the polymer viscosity is 470 Pa・s and the pulling up speed of the tube is less than 0.08 mm/s. was proposed and was made clear.

首先，提出并开发了一种用于微型机器人的外框架模块。外框模块具有结构体传递力、扭矩和驱动控制系统的特点。该模块由两个连杆（L1和L2）和一个铰链组成，由小型注塑机制成。这种铰链称为大偏转铰链，具有约±45°的大角位移。超过弹性区域的角度。作为铰链部分的执行器，研究了两种SMA，即SMA线圈和SMA导线的电流和应变之间的关系。两个 SMA 线圈因其应变效应大而被选为执行器。理论上，通过分析L1a〓L2的相对角位移与铰链部的压力角，考察并确定两个SMA线圈在铰链部的固定位置。实验中，L1和L2之间的相对角位移有40度以上的角度。结果表明，SMA 线圈的输入电流与铰链 w〓处的角位移之间的关系变得清晰。此外，我们还提出了一种由形状记忆聚合物（SMP）制成的微扩张操纵器。 SMP 在超过类别转变温度时会变形。利用SMP特性，开发了内径1mm、长度100mm的管状微扩张机械手。制作了带有加热器部分的管子，并暴露了加热器部分的缺点。然后，采用新的管材制造方法，在聚合物粘度为470Pa·s、管材上拉速度小于0.08mm/s的制造条件下，获得等厚管材（厚度：250±25μn）。被提出并明确。