适用于有限空间的微型形状记忆合金丝驱动器

形状记忆合金（Ｓｈａｐｅ Ｍｅｍｏｒｙ Ａｌｌｏｙ，ＳＭＡ）丝用于微小型机器人中作驱动器时，为了达到要求的输出位移，其长度往往超出有限的可用空间。研究了产生这种现象的原因，并开发了一种使ＳＭＡ丝在整个可用空间中呈三维状态分布的微驱动器。理论分析和试验结果表明，该驱动器克服了ＳＭＡ丝直线驱动器和ＳＭＡ螺旋弹簧驱动器的弱点，拥有比骨骼肌更好的力学性能，应用于微小仿生机器人时，它可在满足输出位移要求的同

Micro Shape Memory Alloy Wire Actuator Applied in Limited Space

In order to output the necessary displacement in a micro/miniature mechanism,the length of a shape memory alloy ( SMA) wire usually exceeds the limited usable space,the cause of which was studied in this paper,and a new SMA wire actuator was developed. By this new actuator,the SMA wire can be distributed in the space 3- dimentionally. The theoretical analysis and experiment results indicate that,it overcomes both the drawbacks of SMA line actuator and SMA spring actuator,owns better mechanical performance than the skeletal muscle.When being used in the micro/miniature bio- robot,itcan outputthe demanded force,displacement and velocity at the same time.