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Discussion on Development of SMA-Based Flexible Robot Finger

Author: ZhangDeLin
Tutor: GuChengLin；YangKai
School: Huazhong University of Science and Technology
Course: Motor and electrical
Keywords: embedded shape memory alloy actuator planar-bending actuator dimensional-bending actuator temperature analysis
CLC: TP241
Type: Master's thesis
Year: 2007
Downloads: 161
Quote: 0
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Abstract


Accompanying with the modernization of society, the manipulators are widely used. Many research institutes in the world start to develop the actuators that used in driving the manipulators. A temperature controlled shape memory alloy actuator makes a wide range of concerns, with large displacement, high output power-weight ratio as well as simply drive and control system.The research is based on bended embedded shape memory alloy actuator. On the basis of study that already exists in our discussion group, this paper expounds the principle, structure, classification and manufacture of the embedded shape memory alloy actuator.The methods of making all kinds of planar-bending embedded shape memory alloy actuators are given. Then the prototype is developed, analysis of the existing structure of the embedded shape memory alloy actuator is carried out, and the defects of the prototype are pointed out. To overcome the faults in the past structure, a non-sticky structure of dimensional-bending embedded shape memory alloy actuator is presented firstly, where nonstick silicone rubber is used to produce the flexible rod. Moreover, the analysis of the structural problems that might exist is completed.Subsequently, steady-state temperature analysis of planar-bending embedded shape memory alloy actuator and dimensional-bending embedded shape memory alloy actuator have been done using finite element analysis software and the temperature relationship between the shape memory alloy wires in the actuator is derived. Furthermore, the design parameters of the new structure of the dimensional-bending embedded shape memory alloy actuator are given.Finally, a vulcanized silicone rubber mold is designed. Using the mold, a non-sticky dimensional-bending embedded shape memory alloy actuator prototype is produced. The experiments prove that the prototype could operate effectively.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Manipulator
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