形狀記憶合金應用於關節彎曲致動器之研發

The Development of Body Joint Bending Actuator with Shape Memory Alloy

涂耀升(Yao-shen Tu)

指導教授 ： 葉隆吉

大同大學/工程學院/機械工程學系所/碩士(2008年)

摘要

本研究針對關節彎曲復健所需，提出一種新型的關節彎曲致動器。主要是利用形狀記憶合金( Shape Memory Alloy；SMA )來提供關節復健所需的助力或阻力，本文將針對關節彎曲致動器的機構設計及控制方法進行研究。
本研究採用TiNi基的形狀記憶合金線材，首先設計一單線式SMA彎曲致動器進行初步的特性量測。接著設計一彎曲致動器，可放置6束SMA，每一束裝設多條SMA線材，可隨著所需力量的大小，隨意拆裝SMA線束，再規劃由6束(8條/束)與單束(50條/束)的SMA線束驅動的致動器進行特性量測實驗，其結果顯示，多束與單束的SMA操作特性相近，其彎曲角度最大可到158°，彎曲扭力最大為0.158Nm。
本研究之彎曲驅動控制系統以PC為控制核心，將SMA溫度上限設定在90℃，以避免SMA線材燒毀或是造成危險。角度可由使用者依其復健時的疼痛感來設定，系統便可在使用者所能忍受的疼痛上限稍下方操作，而使用者可透過系統的人機介面設定一個可接受的復健速度。

關鍵字

關節彎曲致動器 ； 形狀記憶合金 ； 復健輔具

並列摘要

A new type of 〝Body Joint Bending Actuator〞was proposed in this paper. The SMA was used to offer the resistance and the auxiliary to rehabilitation in need. This paper was focusing in the structure design and the control method for the actuator.
This research used TiNi based SMA fiber. First we design a single-fiber SMA actuator to measure the characteristic. Next we design a six-bunch SMA actuator, and we can adjust the amount of the SMA bunch for different force in need. We did two experiment to measure the characteristic : One is using six bunch of SMA fiber, with 8 fiber per bunch, the other is using one bunch of SMA fiber, with 50 fiber per bunch. The result show that the two type have the similar active characteristic. The maximum bending angle is 158°, and the maximum bending torque is 0.155Nm.
The bending actuator control system is PC-based. We set the highest temperature at 90℃to avoid the SMA burning out. The system can be set not only the maximum operating angle when user feels pain, but also the angular velocity by human-machine interface.

並列關鍵字

Assistive Devices of rehabilitation ； Body Joint Bending Actuator ； SMA

參考文獻

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[10]董志強, 〝智慧型材料驅動機械手之設計〞，國立中央大學機械工程研究所碩士論文，2007,7

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