Please wait a minute...
浙江大学学报(工学版)  2018, Vol. 52 Issue (4): 628-634    DOI: 10.3785/j.issn.1008-973X.2018.04.003
王扬威, 兰博文, 刘凯, 赵东标
南京航空航天大学 机电学院, 江苏 南京 210016
Modeling and experiment of flexible manipulator actuated by shape memory alloy wire
WANG Yang-wei, LAN Bo-wen, LIU Kai, ZHAO Dong-biao
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
 全文: PDF(5279 KB)   HTML



A flexible manipulator actuated by shape memory alloy (SMA) wires was designed based on the biological analysis of muscle structure in wrist of octopus in order to meet the requirement of the flexibility of robot manipulators when operated in complex underwater environment. The mechanical model of the flexible manipulator was constructed. Then the constitutive equation and the thermal model of embedded SMA wires were described. Actuating experiments were conducted on the influence of different driving voltages and duty ratio of pulse-width modulation (PWM) on the resistance of SMA wires and the bending angle of manipulator. The experimental results show that the flexible manipulator can complete continuous flexible bending motion with a maximum bending angle of 60 degree. Relationship between driving voltage, PWM ratio, resistance of SMA and the bending angle of flexible manipulator accorded with the theoretical analysis results.

收稿日期: 2017-10-13
CLC:  TP241  


作者简介: 王扬威(1980-),男,博士,讲师,从事仿生机器人、机电一体化技术及智能装备的研究
E-mail Alert


王扬威, 兰博文, 刘凯, 赵东标. 形状记忆合金丝驱动的柔性机械臂建模与实验[J]. 浙江大学学报(工学版), 2018, 52(4): 628-634.

WANG Yang-wei, LAN Bo-wen, LIU Kai, ZHAO Dong-biao. Modeling and experiment of flexible manipulator actuated by shape memory alloy wire. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2018, 52(4): 628-634.


[1] JONES B A, MCMAHAN W, WALKER I. Design and analysis of a novel pneumatic manipulator[C]//Proceedings of 3rd IFAC Symposium on Mechatronic Systems. Sydney:IEEE, 2004:745-750.
[2] WILLIAM M, JONES B A, WALKER I D.Design and implementation of a multi-section continuum robot:air-octor[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Edmonton:IEEE, 2005:2578-2585.
[3] EMANUELE G, NIKOS T, DARWIN G C, et al. An octopus anatomy-inspired robotic arm[J]. International Conference on Intelligent Robots and Systems, 2010, 6219(1):3091-3096.
[4] SIMAAN N. Snake-like units using flexible backbones and actuation redundancy for enhanced miniaturization[C]//Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Barcelona:IEEE, 2006:3012-3017.
[5] DEGANI A, CHOSET H, ZUBIATE B, et al. Highly articulated robotic probe for minimally invasive surgery[C]//International Conference of the IEEE Engineering in Medicine and Biology Society. Vancouver:IEEE, 2008:4167.
[6] GIORELLI M, RENDA F, CALISTI M, et al. Learning the inverse kinetics of an octopus-like manipulator in three-dimensional space[J]. Bioinspiration and Biomimetics, 2015, 10(3):035006.
[7] 胡海燕,王鹏飞,孙立宁,等. 线驱动连续型机器人的运动学分析与仿真[J]. 机械工程学报, 2010, 49(19):1-8. HU Hai-yan, WANG Peng-fei, SUN Li-ning, et al. Kinematic analysis and simulation for cable-driven continuum robot[J]. Journal of Mechanical Engineering, 2010, 49(19):1-8.
[8] VAVOURAKIS V, BAMPASAKIS D, KAZAKIDI A, et al. Generation of primitive behaviors for non-linear hyperelastic octopus-inspired robotic arm[C]//20124th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. Rome:IEEE, 2012:725-730.
[9] CIANCHETTI M, LICOFONTE A, FOLLADOR M, et al. Bioinspired soft actuation system using shape memory alloys[J]. Actuators, 2014, 3(3):226-244.
[10] ZHENG T, YANG Y, DAVID T, et al. Controldesign of shape memory alloy based multi-arm continuum robot inspired by octopus[C]//2014 IEEE 9th Conference on Industrial Electronics and Applications. Hangzhou:IEEE, 2014:1108-1113.
[11] CIANCHETTI M, CALISTI M, MARGHERI L, et al. Bioinspired locomotion and grasping in water:the soft eight-arm OCTOPUS robot[J].Bioinspiration and Biomimetics, 2015, 10(035003):1-8.
[12] PEI Q, PELRINE R, STANFORD S, et al. Multifunctional electroelastomer rolls and their application for biomimetic walking robots[C]//International Society for Optics and Photonics, 2002, 4698(1):246-253.
[13] MCMAHAN W, CHITRAKARAN V, CSENCSITS M, et al. Field trials and testing of the Oct Arm continuum manipulator[C]//Proceedings of 2006 IEEE International Conference on Robotics and Automation. Orlando:IEEE, 2006:23.
[14] RAHN C, WALKER I. Design and experimental testing of the OctArm soft robot manipulator[J]. Proceedings of SPIE, 2006, 6230(2).
[15] GODAGE I, MEDRANO G A, BRANSON D T, et al. Modal kinematics for multi-section continuum arms[J]. Bioinspiration and Biomimetics, 2015, 10(035002):1-18.
[16] LASCHI C, MAZZOLAI B, MATTOLI V, et al. Design of a biomimetic robotic octopus arm[J]. Bioinspiration and Biomimetics, 2009, 4(015006):1-10.
[17] CALISTI M, ARIENTI A, GIANNACCINI M E, et al. Study and fabrication of bioinspired octopus armmockups tested on a multipurpose platform[C]//20103rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. Tokyo:IEEE, 2010:461-466.
[18] CIANCHETTI M, ARIENTI A, FOLLADOR M, et al. Design concept and validation of a robotic arm inspired by the octopus[J]. Materials Science and Engineering, 2011, 31(6):1230-1239.
[19] MARGHERI L, MAZZOLAI B, PONTE G, et al. Methods and tools for the anatomical study and experimental in vivo measurement of the Octopus vulgaris arm for biomimetic design[J]. 20103rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (Bio Rob). Tokyo:IEEE,2010:467-472.
[20] EMANUELE G, NIKOS T, DARWIN G. An octopus anatomy-inspired robotic arm[C]//2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Taipei:IEEE, 2010:3091-3096.
[21] WANG S, ZHU Q, XIONG R,et al. Flexible robotic spine actuated by shape memory alloy[J]. International Journal of Advanced Robotic Systems, 2014, 11(1):56.
[22] KIER W, THOMPSON J.Muscle arrangement, function and specialization in recent coleoids[J]. Berliner Palobiol Abh, 2003(3):141-162.
[23] TANAKA K. A thermomechanical sketch of shape memory effect:one-dimensional tensile behavior[J]. Res Mechanica, 1986, 18(3):251-263.

[1] 都明宇, 鲍官军, 杨庆华, 王志恒, 张立彬. 基于改进支持向量机的人手动作模式识别方法[J]. 浙江大学学报(工学版), 2018, 52(7): 1239-1246.
[2] 秦超, 梁喜凤, 路杰, 彭明, 金超杞. 七自由度番茄收获机械手的轨迹规划与仿真[J]. 浙江大学学报(工学版), 2018, 52(7): 1260-1266.
[3] 王禹, 韦巍. 采用频域Prony方法估计信号重叠双分量[J]. 浙江大学学报(工学版), 2018, 52(6): 1157-1166.
[4] 王卫星, 孙守迁, 李超, 唐智川. 基于卷积神经网络的脑电信号上肢运动意图识别[J]. 浙江大学学报(工学版), 2017, 51(7): 1381-1389.