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针对形状记忆合金(SMA)因冷却速度慢而导致的往复动作响应频率低的问题,提出了一种基于流体管道冷却的SMA柔性驱动器。通过冷却液在管道内循环流动,加快SMA柔性驱动器内部的热传递,从而达到快速冷却SMA丝的目的。以水为冷却介质,通过对比分析流体管道通水和不通水的两种情况下的冷却效果,得出实验结论。实验测试了对比实验组中SMA柔性驱动器在1Hz和2Hz下的瞬时温度随时间变化曲线以及相对应时刻的温度分布图,同时测试了SMA柔性驱动器的角度变化率随时间的变化情况。实验结果表明,在流体管道中冷却液的冷却下不仅大幅提高了SMA柔性驱动器的往复动作的响应频率,还提高了SMA柔性驱动器的输出稳定性。
Aiming at the low response frequency of reciprocating motion of shape memory alloy (SMA) due to slow cooling, a SMA flexible actuator based on fluid pipe cooling is proposed. Circulation of cooling fluid in the pipeline to speed up the SMA flexible drive internal heat transfer, so as to achieve the purpose of rapid cooling of SMA wire. Using water as the cooling medium, the experimental results are obtained by comparing the cooling effect of the two cases where the fluid pipe is flooded and not flooded. The instantaneous temperature profiles of SMA flexible actuators at 1 Hz and 2 Hz in the experimental group were compared with those at corresponding time points. The change of angular rate of SMA flexible actuator with time was also tested. Experimental results show that the coolant cooling in the fluid pipe not only greatly improves the response frequency of the reciprocating motion of the SMA flexible actuator but also improves the output stability of the SMA flexible actuator.