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基于形状记忆合金的软复合结构驱动器设计
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Abstract:
本文针对现有康复治疗设备中动力驱动装置便携性差、缺乏仿生运动驱动等技术难题，基于形状记忆合金(SMA)及其仿生驱动机理，设计了一种用于康复训练的新型人体关节运动SMA软复合结构驱动器。首先，本文为该软复合结构设计了由产生驱动力的驱动层、确定结构弯曲角度的导向层和连接这些层的基体材料组成的构型。其次，建立了基于经典层合理论的SMA软复合结构的输出力学模型，解析了软复合结构的弯曲运动，并通过MATLAB进行了数值计算。最后，制作了样机，并通过搭建实验平台对其进行性能测试。实验结果表明该驱动器在空载情况下弯曲角度达到了189.91？，负载0.45 kg下弯曲角度109？，证明了其可在轻量级人体外骨骼结构中产生需要的弯曲运动的可能性。
In order to solve the technical problems of poor portability and lack of bionic motion drive in existing rehabilitation equipment, based on shape memory alloy (SMA) and its bionic driving mechanism, a new type of human joint motion SMA soft composite structure driver for rehabilitation training is designed in this paper. First of all, this paper designs a configuration for the soft composite structure, which is composed of the driving layer that produces the driving force, the guide layer that determines the bending angle of the structure, the cooling layer that increases the heat dissipation to accelerate the response frequency and the matrix material that connects these layers. Secondly, the output mechanics model of SMA soft composite structure based on classical lamination theory is established, and the bending motion of soft composite structure is analyzed and verified by MATLAB simulation. Finally, a prototype is made, and the performance is tested by building an experimental platform. The experimental results show that the bending angle of the actuator reaches 189.91？ under no load and 109？ under the load of 0.45 kg, Demonstrated the possibility of producing the desired bending motion in lightweight human exoskeleton structures.
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