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时间:2020-03-24
《基于SMA驱动结构的花型机器人设计.pdf》由会员上传分享,免费在线阅读,更多相关内容在行业资料-天天文库。
1、Jun.2015HydromechatronicsEngineeringVl01.43No.12HydromechatronicsEngineeringhttp://jdy.qks.cqut.edu.cnE-mail:jdygcyw@126.cornDesignofSMAactuatorofstemstructureforflowerrobotHao—leiHUANG,Dong—pengSHU,Ying-naLUO(DepartmentofMechanicalEngineering,ChongqingIndustryPolytechnicCollege,Chongq
2、ing401120,China)Abstract:Theflowerrobot,ahouseholdservicerobot,hasbeenmainfocusofourresearch.Generally,theflow—errobothastheappearanceofacommonflowerwhichconsistsofthepetal,thestem,andtheleafage.Besideshavingtheappearanceofaflower,theflowerrobothasthefollowingfunctions,suchasamovingmec
3、hanism,asensingability,andahomeappliancefunction.Especially,themovingfunctionisveryimportantfunctionamongthevariousfunctions.Themovingfunctionofflowerrobotconsistsofthebendingofstem,thebloomingofpetalandthestirringoftheleafage.Thispaper,focusesonthemovementoftheflowerrobotstructure.Asa
4、nactuatorf0rflowerstructure,coiltypeShapeMemoryMloy(SMA)isadoptedandsiliconestem,petalandleafagestruc-tureswith6coiltypeSMAareproposed.Firstly,usingSMAactuator,theflowerstructurearedesignedandfabri-cated.Secondly,thekinematicequationsuchasstem,petalandleafagearederived.Then,throughthek
5、inemat-icequationthecontrolsystemcanbedesignedtodrivetheflowerrobotbyDspace.Finally,throughtheexperi—ment,thefeasibilityofthesystemisproven,anditsperformancesareevaluated.Keywords:Shapememoryalloy(SMA),Actuator,Flowerstructure,Controlsystemdoi:10.3969/j.issn.1001-3881.2015.12.026Docume
6、ntcode:ACLCnumber:TP242.6functionisveryimportant,andthispaperisfocused1Introductiononthemovingmechanismoftheflowerrobot.Themo—tionoftheflowerrobotisdividedthebloomingofflow—Generally,theflowerrobothastheappearanceofaer,theswayingofthestemandthestirringoftheleaf-commonflowerwhichconsist
7、sofflower,stemandageandpeta1.Especially,thispaperfocusesontheleaves.Besidestheappearanceoftheflower,theswayingofthestemandproposes-·newmovingmecha·-flowerrobothasthefollowingfunctionssuchasmovingnismsofstemstructureforaflower.Fortheactuationmechanism,sensingability,andhomeapplianceof
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