Shape memory alloy driving device for rotary joint and design method for shape memory alloy driving device

Abstract

The invention relates to the field of robot rotary joint driving, in particular to a shape memory alloy driving device for a rotary joint and a design method for the shape memory alloy driving device. The shape memory alloy driving device comprises a driving mechanism and a drive, wherein the driving mechanism comprises a tail-end execution member, a crank, a connecting rod and a sliding block; one end of the crank is connected onto the tail-end execution member through the rotary joint; the connecting rod is connected onto the other end of the crank through the rotary joint; a sliding block is movably connected to the other end of the connecting rod; the drive comprises a guide rail and an elastic body; a sliding block of the driving mechanism is movably arranged on the guide rail of the drive and can freely slide in the guide rail; a first spring and a second spring which are made of the shape memory alloy are respectively and fixedly connected to two ends of the guide rail; the sliding block of the driving mechanism is fixedly connected between the first spring and the second spring; and a feedback control circuit is respectively connected to the first spring and the second spring through leads and is used for controlling the power on / off states of the first spring and the second spring. According to the shape memory alloy driving device disclosed by the invention, the adaptability for the mounting space is strong and the matching between the shape memory alloy driving device and the mounting space can be adjusted.

Description

technical field [0001] The invention relates to the field of driving a robot rotary joint, in particular to a shape memory alloy driving device for a rotary joint and a design method thereof. Background technique [0002] Drive technology is a key technology of mobile robots and an important factor affecting the mobile characteristics and motion capabilities of robots. As a main form of joint motion realized by robot motion, revolving joints play a very important role in the specific motion mode of mobile robots. With the development of modern driving technology, in recent years, a non-electromagnetic driving method different from traditional electromagnetic driving technology has attracted the attention of many researchers, and has been tried in some specific motion forms of micro-miniature mobile robots, among which Shape memory alloy driving technology is one of them. Shape memory alloy is a functional material with shape memory effect. The shape memory alloy driver int...

AI Technical Summary

Problems solved by technology

However, the existing drive devices have disadvantages such as poor space adaptability, complex structure, cumbersome control, and inability to meet the application under certain conditions, which limit the application space and scope of use of the drive device.

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