CN103033382A - Testing device and testing method for output characteristics of artificial muscle aggregation group - Google Patents
Testing device and testing method for output characteristics of artificial muscle aggregation group Download PDFInfo
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- CN103033382A CN103033382A CN2012105482196A CN201210548219A CN103033382A CN 103033382 A CN103033382 A CN 103033382A CN 2012105482196 A CN2012105482196 A CN 2012105482196A CN 201210548219 A CN201210548219 A CN 201210548219A CN 103033382 A CN103033382 A CN 103033382A
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Abstract
The invention discloses a testing device and a testing method for output characteristics of an artificial muscle aggregation group, and belongs to the technical filed of testing of the artificial muscle aggregation group. The testing device and the testing method for the output characteristics of the artificial muscle aggregation group comprises a computer and an artificial muscle aggregation group control platform which are connected with each other, wherein the artificial muscle aggregation group control platform is connected with an artificial muscle aggregation group testing platform which is connected with one end of a force sensor, the other end of the force sensor is connected with a constant-speed control device, the force sensor is connected with a list management system (LMS) data collecting system, a reflective piece is arranged at an output end of the artificial muscle aggregation group testing platform in a matching mode, and a laser displacement sensor which corresponds to the reflective piece is arranged on one side of the artificial muscle aggregation group testing platform. According to the testing device and the testing method for the output characteristics of the artificial muscle aggregation group, the laser displacement sensor and the force sensor respectively test displacement and magnitude of force, the testing method is convenient to operate, the computer is connected at the upper end of the artificial muscle aggregation group control platform, a configuration software can be adopted to compile a graphical user interface on the computer in advance, an activating strategy of the artificial muscle aggregation group is established, and test is convenient to conduct.
Description
Technical field
The invention belongs to the artificial muscle aggregation group technical field of measurement and test, be specifically related to a kind of artificial muscle aggregation group output characteristics proving installation and method of testing.
Background technology
Shape memory alloy spring has except shape memory alloy material lightweight, the advantage such as simple, can also obtain larger deflection, thereby is highly suitable for miniature and driving small scale robot.Some scholars have also carried out system testing to the relation between stress, strain, temperature and the phase transformation etc. of Coil Spring of Shape Memory Alloys both at home and abroad, and have studied the relation between response speed, drive current, predeformation amount, cooling velocity and the load.But these researchs mostly launch around single artificial-muscle actuating unit.When lineup worker's muscle is assembled in groups acting in conjunction, activate the artificial-muscle actuating unit of diverse location and number, its output characteristics will present different situations, and also can influence each other between each actuating unit, present the non-linear of complexity.For the research of artificial muscle aggregation group dynamic perfromance and measuring technology thereof, proving installation rarely seen report also.
Summary of the invention
For the above-mentioned problems in the prior art, the object of the present invention is to provide a kind of artificial muscle aggregation group output characteristics proving installation and method of testing.
Described a kind of artificial muscle aggregation group output characteristics proving installation, comprise interconnective computing machine and artificial muscle's group control platform, described artificial muscle's group control platform is connected with artificial muscle group test platform, the output terminal that it is characterized in that described artificial muscle group test platform is connected with power sensor one end by extension spring, the power sensor other end is connected with constant-speed control device, the power sensor is connected with the LMS data acquisition system (DAS), the output terminal of described artificial muscle group test platform also is equipped with reflecting piece, the described artificial muscle group test platform one side setting laser displacement sensor corresponding with reflecting piece, laser displacement sensor connect and show and recording unit.
Described a kind of artificial muscle aggregation group output characteristics proving installation is characterized in that described constant-speed control device is industrial robot or high-precision support plates.
Described a kind of artificial muscle aggregation group output characteristics proving installation is characterized in that described reflecting piece is with the reflective scraps of paper or with reflective sheet metal, and described demonstration and pen recorder are oscillograph or computing machine.
Described a kind of artificial muscle aggregation group output characteristics proving installation, it is characterized in that described artificial muscle's group control platform comprises base plate, described base plate is equipped with guide rail and relay base, it is characterized in that also arranging on the described base plate PLC controller, wire casing, air switch, Switching Power Supply, the outside of described air switch is provided with block, one group relay is set on the described relay base, connection terminal is set on the guide rail, described Switching Power Supply, relay, connection terminal, air switch is connected to form current supply circuit by wire, and relay is connected with artificial muscle group test platform.
Described a kind of artificial muscle aggregation group output characteristics proving installation, it is characterized in that described artificial muscle group test platform comprises base, be equipped with cooling mechanism on the base and artificial-muscle adheres to platform, described artificial-muscle adheres to platform and is provided with the artificial ligament of being made by nylon wire, the interval arranges one group of artificial-muscle actuating unit of being made by the SMA spring on the described artificial ligament, described artificial-muscle adhere to be equipped with on the platform one group with artificial-muscle actuating unit connection jaws one to one, described connection jaws and relay connect one to one.
Described a kind of artificial muscle aggregation group output characteristics proving installation, the output terminal that it is characterized in that described artificial muscle group test platform are an end termination of artificial-muscle actuating unit.
Described a kind of artificial muscle aggregation group output characteristics proving installation, it is characterized in that described artificial-muscle adheres to platform and comprises one group of back up pad that be arranged in parallel, one group of cavity is horizontally arranged at interval on the back up pad, the cavity bottom interval arranges one group of through hole that is used for the artificial ligament activity, artificial ligament one end is fixed on the hinge, the other end is fixed on the exercise test mechanism back up pad farthest, and described back up pad one side also is provided with crossbeam.
Described a kind of artificial muscle aggregation group output characteristics proving installation, it is characterized in that cooling mechanism is arranged on artificial-muscle and adheres to platform one side, it comprises the fan base that is fixedly installed on the base, and the fan that is used for adhering to the platform heat radiation to artificial-muscle is installed on the described fan base.
Described a kind of artificial muscle aggregation group output characteristics method of testing is characterized in that described method comprises the steps:
1) connects successively first computing machine, artificial muscle's group control platform and artificial muscle group test platform, under external force, the artificial-muscle actuating unit is elongated;
2) need by test, allow the PLC controller work of artificial muscle's group control platform by computing machine, make corresponding connection jaws energising by the PLC controller by corresponding relay, produce Joule heat, corresponding artificial-muscle actuating unit produces phase transformation and shrinks under the effect of Joule heat, and then is returned to initial length;
3) the power sensor sensing that is connected with the output terminal of artificial muscle group test platform shrinks the power that produces to the artificial-muscle actuating unit, and signal is transferred to the LMS data acquisition system (DAS), by being transferred to LMS data acquisition system (DAS) record and processing, records the power that produces of shrinking;
4) the artificial-muscle actuating unit is in the process of shrinking, the reflecting piece that is connected with the output terminal of artificial muscle group test platform is also along with a starting, laser displacement sensor is beaten laser on reflecting piece, detects in real time the output displacement of artificial muscle group, and testing result is outputed to demonstration and output device.
By adopting above-mentioned technology, compared with prior art, the present invention has following beneficial effect:
1) the present invention is by putting constant-speed control device at the power covers disposed on sensor, give artificial ligament in the certain pretightning force of artificial-muscle shrinkage direction, when the artificial-muscle actuating unit shrinks, constant-speed control device also moves to equidirectional, the inertia force influence of elimination power sensor is to obtain accurately test result;
2) the present invention arranges extension spring between the output terminal of artificial muscle group test platform and power sensor, when artificial muscle aggregation group shrinks, unavoidably there are velocity contrast in its speed and constant-speed control device, then produce relative displacement, therefore add this extension spring to eliminate this part displacement, avoid power sensor, artificial muscle aggregation group test platform to be broken by force or come off;
3) the proving installation structure statement of account of the present invention, method of testing is easy to operate, shrink by Control artificial-muscle actuating unit, according to actual needs, activate the artificial-muscle actuating unit of different numbers and position, artificial muscle aggregation group integral body just obtains different output characteristics, but namely has the characteristics of output characteristics cutting, measures corresponding power and displacement by power sensor and laser displacement sensor; Because the power output of artificial muscle aggregation group and displacement are gathered and record simultaneously, except obtaining power-time, displacement-time data, also can obtain force-displacement curve in aftertreatment, are conducive to the artificial muscle aggregation group dynamic perfromance is analysed in depth.In addition, the upper end of artificial muscle aggregation group control platform connects computing machine, can adopt on computers in advance configuration software establishment graphic user interface (GUI), formulates the activation strategy of artificial muscle aggregation group, is convenient to experiment and carries out.
Description of drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of the artificial muscle group control of the present invention platform;
Fig. 3 is the structural representation of the artificial muscle group test platform of the present invention.
Among the figure: 1-computing machine, 2-artificial muscle group control platform, 201-PLC controller, the 202-guide rail, 203-connection terminal, 204-wire casing, the 205-air switch, 206-block, 207-Switching Power Supply, the 208-base plate, 209-relay, 210-relay base, the 3-laser displacement sensor, the artificial muscle group test platform of 4-, 401-crossbeam, the 402-output terminal, 403-artificial ligament, 404-artificial-muscle actuating unit, the 405-back up pad, 406-base, 407-connection jaws, the 408-fan base, 409-fan, 5-extension spring, the 6-LMS data acquisition system (DAS), 7-power sensor, the 8-constant-speed control device, 9-shows and output device.
Embodiment
The invention will be further described below in conjunction with Figure of description:
As Figure 1-3, a kind of artificial muscle aggregation group output characteristics proving installation, comprise computing machine 1 and artificial muscle's group control platform 2 that communication connects, described artificial muscle's group control platform 2 is connected with artificial muscle group test platform 4, the output terminal 402 of described artificial muscle group test platform 4 is connected with power sensor 7 one ends by extension spring 5, power sensor 7 other ends are connected with constant-speed control device 8, power sensor 7 is connected with LMS data acquisition system (DAS) 6, the output terminal 402 of described artificial muscle group test platform 4 also is equipped with reflecting piece, the described artificial muscle group test platform 4 one side settings laser displacement sensor 3 corresponding with reflecting piece, described constant-speed control device 8 is industrial robot or high-precision support plates, reflecting piece is with the reflective scraps of paper or with reflective sheet metal, laser displacement sensor 3 with and show to be connected with output device and be connected, testing result is outputed on demonstration and the output device 9, and described demonstration and pen recorder 9 are oscillograph or computing machine.
As shown in Figure 2, described a kind of artificial muscle's group control platform is for artificial muscle group power supply and control each unit break-make of artificial muscle group.It comprises base plate 208, described base plate 208 is equipped with guide rail 202, relay base 210, PLC controller 201, wire casing 204, air switch 205, Switching Power Supply 207, one group relay 209 is set on the described relay base 210, connection terminal 203 is set on the guide rail 202, described Switching Power Supply 207, relay 209, connection terminal 203, air switch 205 is connected to form current supply circuit by wire, Switching Power Supply 207 provides power supply for PLC controller 201 and artificial muscle group, for the device on the base plate 208 neat, also be equipped with block 206 on the base plate 208, block 206 is arranged on the outside of air switch 205, this control platform is open architecture, can be according to the quantity of muscle group Expansion PLC controller 201 and relay 209, and the quantity of relay 209 depends primarily on the output port of PL C controller 201, if expansion, can expand to more than 280, output port of the present invention is 16, the relay number is 10-20, be preferably 15, it is simple in structure, easy to operate.
As shown in Figure 3, described artificial muscle group test platform 4 comprises base 406, be equipped with cooling mechanism on the base 406 and artificial-muscle adheres to platform, described artificial-muscle adheres to platform and is provided with the artificial ligament 403 of being made by nylon wire, the interval arranges one group of artificial-muscle actuating unit 404 of being made by the SMA spring on the described artificial ligament 403, described artificial-muscle adhere to be equipped with on the platform one group with artificial-muscle actuating unit 404 connection jaws 407 one to one, artificial-muscle actuating unit 404 adopts the Ni-Ti shape memory alloy spring (being called for short the SMA spring) of one group of same size, the Ni-Ti material has SME, can under the effect of Joule heat, be returned to original shape, if be elongated in advance, power and displacement that the energising heating will be exported a certain size; Artificial ligament 403 adopts the higher nylon wire of burning-point, is used for connecting SMA spring and connecting rod, the function of simulation ligament, and base provides support for other all assemblies.
Wherein, described artificial-muscle adheres to platform and comprises one group of back up pad that be arranged in parallel 405, generally be at least 3, distance between adjacent two back up pads 405 is 60-70 mm, 2-10 cavity is horizontally arranged at interval on the every back up pad 405, each cavity bottom interval arranges one group of through hole that is used for artificial ligament 403 activities, distance between the adjacent through-holes is 5-20mm, described artificial ligament 403 effect output terminals 402 are connected with extension spring 5, and the other end is fixed on the exercise test mechanism back up pad 405 farthest; Described cooling mechanism is arranged on artificial-muscle and adheres to platform one side, it comprises the fan base 408 that is fixedly installed on the base 406, the fan 409 that is used for adhering to the platform heat radiation to artificial-muscle is installed on the described fan base 408, as shown in FIG., artificial-muscle actuating unit 404 initial lengths of the present invention are 18-22mm, preferred length is 20mm, elongation length is 40-42mm, artificial-muscle can elongate one times, distance on the artificial ligament 3 between adjacent two artificial-muscle actuating units 404 is 30-50 mm, be preferably 40mm, for stability and the fastness that increases test platform, be provided with crossbeam 401 between the back up pad 405 of the present invention.
By artificial muscle aggregation group output characteristics proving installation of the present invention, its concrete method of testing is as follows:
1) connects successively first computing machine 1, artificial muscle's group control platform 2 and artificial muscle group test platform 4, artificial-muscle actuating unit 404 is elongated;
2) need by test, allow the PLC controller 201 of artificial muscle's group control platform 2 work by computing machine 1, make corresponding connection jaws 407 energisings by PLC controller 201 by corresponding relay 209, produce Joule heat, corresponding artificial-muscle actuating unit 404 produces phase transformation and shrinks under the effect of Joule heat, and then is returned to initial length;
3) the power sensor 7 that is connected with the output terminal of artificial muscle group test platform 4 is sensed displacement and the power output of artificial muscle aggregation group integral body and is shunk the power that produces, signal is transferred to LMS data acquisition system (DAS) 6, by being transferred to LMS data acquisition system (DAS) 6 records and processing, record the power that produces of shrinking;
4) artificial-muscle actuating unit 404 is in the process of shrinking, the reflecting piece that is connected with the output terminal of artificial muscle group test platform 4 is also along with a starting, laser displacement sensor 3 laser are beaten on this reflecting piece, test accordingly the contraction displacement of artificial muscle aggregation group, and testing result is outputed to demonstration and output device 9.
Principle of work of the present invention: computing machine 1 sends order for the artificial muscle's group control platform 2 that is attached thereto, and then pass through the break-make that PLC controller 201 is controlled each artificial-muscle actuating unit 404 on the artificial muscle group test platform 4, to obtain different output displacements and force characteristic; Power and the change in displacement situation of artificial muscle group contraction process tested and recorded to power sensor 7 and laser displacement sensor 3 simultaneously.During test, the computing machine 1 that connects artificial muscle's group control platform 2 at first sends activation signal, artificial muscle's group control platform 2 begins action, artificial muscle group begins to shrink, and meanwhile, constant-speed control device 8 is along muscle group shrinkage direction uniform motion, simultaneously, LMS data acquisition system (DAS) 6 and laser displacement sensor 3 beginning record data until artificial muscle group pinned sheepshank bundle, stop the record of above constant-speed control device 8 motions, LMS data acquisition system (DAS) 6 and laser displacement sensor 3.In test process, need many people cooperation, with the operation to computer and artificial muscle's group control platform 2, constant-speed control device, LMS data acquisition system (DAS) 6 and laser displacement sensor 3.
Claims (9)
1. artificial muscle aggregation group output characteristics proving installation, comprise interconnective computing machine (1) and artificial muscle's group control platform (2), described artificial muscle's group control platform (2) is connected with artificial muscle group test platform (4), the output terminal (402) that it is characterized in that described artificial muscle group test platform (4) is connected with power sensor (7) one ends by extension spring (5), power sensor (7) other end is connected with constant-speed control device (8), power sensor (7) is connected with LMS data acquisition system (DAS) (6), the output terminal (402) of described artificial muscle group test platform (4) also is equipped with reflecting piece, described artificial muscle group test platform (4) the one side settings laser displacement sensor (3) corresponding with reflecting piece, laser displacement sensor (3) connect and show and recording unit (9).
2. a kind of artificial muscle aggregation group output characteristics proving installation according to claim 1 is characterized in that described constant-speed control device (8) is industrial robot or high-precision support plates.
3. a kind of artificial muscle aggregation group output characteristics proving installation according to claim 1 is characterized in that described reflecting piece is with the reflective scraps of paper or with reflective sheet metal, and described demonstration and pen recorder (9) are oscillograph or computing machine.
4. a kind of artificial muscle aggregation group output characteristics proving installation according to claim 1, it is characterized in that described artificial muscle's group control platform (2) comprises base plate (208), described base plate (208) is equipped with guide rail (202) and relay base (210), it is characterized in that also arranging on the described base plate (208) PLC controller (201), wire casing (204), air switch (205), Switching Power Supply (207), the outside of described air switch (205) is provided with block (206), one group relay (209) is set on the described relay base (210), connection terminal (203) is set on the guide rail (202), described Switching Power Supply (207), relay (209), connection terminal (203), air switch (205) is connected to form current supply circuit by wire, and relay (209) is connected with artificial muscle group test platform (4).
5. a kind of artificial muscle aggregation group output characteristics proving installation according to claim 4, it is characterized in that described artificial muscle group test platform (4) comprises base (406), be equipped with cooling mechanism on the base (406) and artificial-muscle adheres to platform, described artificial-muscle adheres to platform and is provided with the artificial ligament (403) of being made by nylon wire, the upper interval of described artificial ligament (403) arranges one group of artificial-muscle actuating unit (404) of being made by the SMA spring, described artificial-muscle adhere to be equipped with on the platform one group with artificial-muscle actuating unit (404) connection jaws (407) one to one, described connection jaws (407) connects one to one with relay (209).
6. a kind of artificial muscle aggregation group output characteristics proving installation according to claim 5 is characterized in that the output terminal (402) of described artificial muscle group test platform (4) is an end termination of artificial-muscle actuating unit (404).
7. a kind of artificial muscle aggregation group output characteristics proving installation according to claim 5, it is characterized in that described artificial-muscle adheres to platform and comprises one group of back up pad that be arranged in parallel (405), one group of cavity is horizontally arranged at interval on the back up pad (405), the cavity bottom interval arranges one group and is used for the movable through hole of artificial ligament (403), artificial ligament (403) one ends are fixed on the hinge (402), the other end is fixed on the exercise test mechanism back up pad (405) farthest,, described back up pad (405) one sides also are provided with crossbeam (401).
8. a kind of artificial muscle aggregation group output characteristics proving installation according to claim 5, it is characterized in that cooling mechanism is arranged on artificial-muscle and adheres to platform one side, it comprises the fan base (408) that is fixedly installed on the base (406), the upper fan (409) that is used for adhering to the platform heat radiation to artificial-muscle of installing of described fan base (408).
9. an artificial muscle aggregation group output characteristics method of testing is characterized in that described method comprises the steps:
1) connects successively first computing machine (1), artificial muscle's group control platform (2) and artificial muscle group test platform (4), under external force, artificial-muscle actuating unit (404) is elongated;
2) need by test, allow the PLC controller (201) of artificial muscle's group control platform (2) work by computing machine (1), make corresponding connection jaws (407) energising by PLC controller (201) by corresponding relay (209), produce Joule heat, corresponding artificial-muscle actuating unit (404) produces phase transformation and shrinks under the effect of Joule heat, and then is returned to initial length;
3) the power sensor (7) that is connected with the output terminal of artificial muscle group test platform (4) is sensed artificial-muscle actuating unit (404) and is shunk the power that produces, signal is transferred to LMS data acquisition system (DAS) (6), by being transferred to LMS data acquisition system (DAS) (6) record and processing, record the power that produces of shrinking;
4) artificial-muscle actuating unit (404) is in the process of shrinking, the reflecting piece that is connected with the output terminal of artificial muscle group test platform (4) is also along with a starting, laser displacement sensor (3) is beaten laser on reflecting piece, detect in real time the output displacement of artificial muscle group, and testing result is outputed to demonstration and output device (9).
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| CN113029776A (en) * | 2021-02-08 | 2021-06-25 | 南京航空航天大学 | PVC gel artificial muscle performance test platform |
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