CN103033382B - 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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- CN103033382B CN103033382B CN201210548219.6A CN201210548219A CN103033382B CN 103033382 B CN103033382 B CN 103033382B CN 201210548219 A CN201210548219 A CN 201210548219A CN 103033382 B CN103033382 B CN 103033382B
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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 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, is thus highly suitable for miniature and driving that is small scale robot.Both at home and abroad some scholars have also carried out system testing to the relation between the stress of Coil Spring of Shape Memory Alloys, strain, temperature and phase transformation etc., and have studied response speed, drive current, predeformation amount, relation between cooling velocity and load.But these researchs mostly launch around single artificial-muscle actuating unit.When lineup's work muscle assembles acting in conjunction in groups, 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 also rarely seen report of artificial muscle aggregation group dynamic perfromance and measuring technology thereof, proving installation.
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, it is characterized in that the output terminal of described artificial muscle group test platform is connected with force snesor one end by extension spring, the force snesor other end is connected with constant-speed control device, force snesor is connected with LMS data acquisition system (DAS), the output terminal of described artificial muscle group test platform is also equipped with reflecting piece, described artificial muscle group test platform side arranges the laser displacement sensor corresponding with reflecting piece, laser displacement sensor connects display 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 the band reflective scraps of paper or with reflective sheet metal, described display 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 described base plate also arranges PLC, wire casing, air switch, Switching Power Supply, the outside of described air switch is provided with block, described relay base is arranged a group relay, guide rail arranges connection terminal, described Switching Power Supply, relay, connection terminal, air switch is connected to form current supply circuit by wire, 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, base is equipped with cooling mechanism and artificial-muscle attachment platform, described artificial-muscle attachment platform is provided with the artificial ligament be made up of nylon wire, on described artificial ligament, interval arranges one group of artificial-muscle actuating unit be made up of SMA spring, described artificial-muscle attachment platform is equipped with one group and artificial-muscle actuating unit connection jaws one to one, and described connection jaws and relay connect one to one.
Described a kind of artificial muscle aggregation group output characteristics proving installation, is characterized in that the output terminal of described artificial muscle group test platform is the termination, one end of artificial Muscle actuation unit.
Described a kind of artificial muscle aggregation group output characteristics proving installation, it is characterized in that described artificial-muscle attachment platform comprises one group of back up pad be arranged in parallel, back up pad is horizontally arranged at interval one group of cavity, cavity bottom interval arranges one group of through hole for artificial ligament activity, artificial ligament one end is fixed on hinge, the other end is fixed in exercise test mechanism back up pad farthest, and described back up pad side is also 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 attachment platform side, it comprises the fan base be fixedly installed on base, described fan base is installed the fan be used for the heat radiation of artificial-muscle attachment platform.
Described a kind of artificial muscle aggregation group output characteristics method of testing, is characterized in that described method comprises the steps:
1) first connect computing machine, artificial muscle's group control platform and artificial muscle group test platform successively, under external force, artificial-muscle actuating unit is elongated;
2) need by test, the PLC work of artificial muscle's group control platform is allowed by computing machine, by corresponding relay, corresponding connection jaws is energized by PLC, 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) force snesor be connected with the output terminal of artificial muscle group test platform senses that artificial-muscle actuating unit shrinks the power produced, and Signal transmissions, to LMS data acquisition system (DAS), by being transferred to LMS data acquisition system (DAS) record and processing, records the power of shrinking and producing;
4) artificial-muscle actuating unit is in the process of shrinking, the reflecting piece be connected with the output terminal of artificial muscle group test platform is also along with one starts, laser is beaten in reflecting piece by laser displacement sensor, detects the output displacement of artificial muscle group in real time, and testing result is outputted to display and output device.
By adopting above-mentioned technology, compared with prior art, the present invention has following beneficial effect:
1) the present invention by arranging constant-speed control device on force snesor, to artificial ligament in the certain pretightning force of artificial-muscle shrinkage direction, when artificial-muscle actuating unit shrinks, constant-speed control device also moves to equidirectional, eliminate the inertia force influence of force snesor, to obtain test result accurately;
2) the present invention arranges extension spring between the output terminal and force snesor of artificial muscle group test platform, when artificial muscle aggregation group shrinks, unavoidably there is velocity contrast in its speed and constant-speed control device, then relative displacement is produced, therefore add that this extension spring is to eliminate this part displacement, avoid force snesor, artificial muscle aggregation group test platform are 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, shunk by Control artificial-muscle actuating unit, according to actual needs, activate the artificial-muscle actuating unit of different number and position, artificial muscle aggregation group entirety just obtains different output characteristics, and namely having output characteristics can the feature of cutting, measures corresponding power and displacement by force snesor and laser displacement sensor; Due to the power output of artificial muscle aggregation group and the simultaneously collected and record of displacement, except power-time, displacement versus time data can be obtained, also can obtain force-displacement curve in aftertreatment, be conducive to analysing in depth artificial muscle aggregation group dynamic perfromance.In addition, the upper end of artificial muscle aggregation group parametric controller connects computing machine, configuration software can be adopted in advance on computers to work out graphic user interface (GUI), formulate the activation strategy of artificial muscle aggregation group, be convenient to experiment and carry out.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of the artificial muscle group parametric controller of the present invention;
Fig. 3 is the structural representation of the artificial muscle group test platform of the present invention.
In figure: 1-computing machine, 2-artificial muscle group control platform, 201-PLC controller, 202-guide rail, 203-connection terminal, 204-wire casing, 205-air switch, 206-block, 207-Switching Power Supply, 208-base plate, 209-relay, 210-relay base, 3-laser displacement sensor, the artificial muscle group test platform of 4-, 401-crossbeam, 402-output terminal, 403-artificial ligament, 404-artificial-muscle actuating unit, 405-back up pad, 406-base, 407-connection jaws, 408-fan base, 409-fan, 5-extension spring, 6-LMS data acquisition system (DAS), 7-force snesor, 8-constant-speed control device, 9-display and output device.
Embodiment
Below in conjunction with Figure of description, the invention will be further described:
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 of communication connection, 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 force snesor 7 one end by extension spring 5, force snesor 7 other end is connected with constant-speed control device 8, force snesor 7 is connected with LMS data acquisition system (DAS) 6, the output terminal 402 of described artificial muscle group test platform 4 is also equipped with reflecting piece, described artificial muscle group test platform 4 side arranges the 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 the band reflective scraps of paper or with reflective sheet metal, laser displacement sensor 3 with and to show and output device 9 is connected, testing result is outputted on display and output device 9, described display and pen recorder 9 are oscillograph or computing machine.
As shown in Figure 2, described a kind of artificial muscle's group control platform, powers for artificial muscle group and controls 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 201, wire casing 204, air switch 205, Switching Power Supply 207, described relay base 210 is arranged a group relay 209, guide rail 202 is arranged connection terminal 203, 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 201 and artificial muscle group, in order to the device on base plate 208 is neat, base plate 208 is also equipped with block 206, block 206 is arranged on the outside of air switch 205, this parametric controller is open architecture, can according to the quantity of muscle group Expansion PLC 201 and relay 209, and the quantity of relay 209 depends primarily on the output port of PL C controller 201, if expansion, more than 280 can be expanded to, output port of the present invention is 16, relay number is 10-20, be preferably 15, its structure is simple, easy to operate.
As shown in Figure 3, described artificial muscle group test platform 4 comprises base 406, base 406 is equipped with cooling mechanism and artificial-muscle attachment platform, described artificial-muscle attachment platform is provided with the artificial ligament 403 be made up of nylon wire, on described artificial ligament 403, interval arranges one group of artificial-muscle actuating unit 404 be made up of SMA spring, described artificial-muscle attachment platform is equipped with one group and artificial-muscle actuating unit 404 connection jaws 407 one to one, artificial-muscle actuating unit 404 adopts the Ni-Ti shape memory alloy spring of one group of same size (being called for short SMA spring), Ni-Ti material has SME, original shape can be returned under the effect of Joule heat, if be elongated in advance, electrified regulation will export a certain size power and displacement, the nylon wire that artificial ligament 403 adopts burning-point higher, for connecting SMA spring and connecting rod, the function of simulation ligament, base provides support for other all assemblies.
Wherein, described artificial-muscle attachment platform comprises one group of back up pad be arranged in parallel 405, generally be at least 3 pieces, distance between adjacent two pieces of back up pads 405 is 60-70 mm, every block back up pad 405 is horizontally arranged at interval 2-10 cavity, each cavity bottom interval arranges one group of through hole for artificial ligament 403 activity, distance between adjacent through-holes is 5-20mm, described artificial ligament 403 acts on output terminal 402 and is connected with extension spring 5, and the other end is fixed in exercise test mechanism back up pad 405 farthest, described cooling mechanism is arranged on artificial-muscle attachment platform side, it comprises the fan base 408 be fixedly installed on base 406, described fan base 408 is installed the fan 409 be used for the heat radiation of artificial-muscle attachment platform, as shown in FIG., artificial-muscle actuating unit 404 initial length of the present invention is 18-22mm, preferred length is 20mm, elongation length is 40-42mm, artificial-muscle can elongate one times, distance on artificial ligament 3 between adjacent two artificial Muscle actuation unit 404 is 30-50 mm, be preferably 40mm, in order to increase stability and the fastness of test platform, crossbeam 401 is provided with between 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) first connect computing machine 1, artificial muscle's group control platform 2 and artificial muscle group test platform 4 successively, make artificial-muscle actuating unit 404 elongate under external force;
2) need by test, the PLC 201 of artificial muscle's group control platform 2 is allowed to work by computing machine 1, by corresponding relay 209, corresponding connection jaws 407 is energized by PLC 201, 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) force snesor 7 be connected with the output terminal of artificial muscle group test platform 4 senses that the displacement of artificial muscle aggregation group entirety and power export the power of shrinking and producing, Signal transmissions is to LMS data acquisition system (DAS) 6, record by being transferred to LMS data acquisition system (DAS) 6 and processing, recording the power of shrinking and producing;
4) artificial-muscle actuating unit 404 is in the process of shrinking, the reflecting piece be connected with the output terminal of artificial muscle group test platform 4 is also along with one starts, laser displacement sensor 3 laser is beaten in this reflecting piece, test the contraction displacement of artificial muscle aggregation group accordingly, and testing result is outputted to display and output device 9.
Principle of work of the present invention: computing machine 1 sends order to the artificial muscle's group control platform 2 be attached thereto, and then controlled the break-make of each artificial-muscle actuating unit 404 on artificial muscle group test platform 4 by PLC 201, to obtain different output displacements and force characteristic; Force snesor 7 and laser displacement sensor 3 are tested simultaneously and are recorded power and the change in displacement situation of artificial contract muscular group process.During test, first the computing machine 1 connecting artificial muscle's group control platform 2 sends activation signal, artificial muscle's group control platform 2 starts action, artificial muscle group starts to shrink, and meanwhile, constant-speed control device 8 is along contract muscular group direction uniform motion, simultaneously, LMS data acquisition system (DAS) 6 and laser displacement sensor 3 start to record data, until artificial muscle group pinned sheepshank bundle, stop that above constant-speed control device 8 moves, the record of 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 (8)
1. an 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), it is characterized in that the output terminal (402) of described artificial muscle group test platform (4) is connected with force snesor (7) one end by extension spring (5), force snesor (7) other end is connected with constant-speed control device (8), force snesor (7) is connected with LMS data acquisition system (DAS) (6), the output terminal (402) of described artificial muscle group test platform (4) is also equipped with reflecting piece, described artificial muscle group test platform (4) side arranges the laser displacement sensor (3) corresponding with reflecting piece, laser displacement sensor (3) connects display and output device (9), 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 described base plate (208) also arranges PLC (201), wire casing (204), air switch (205), Switching Power Supply (207), the outside of described air switch (205) is provided with block (206), described relay base (210) arranges a group relay (209), guide rail (202) is arranged connection terminal (203), described Switching Power Supply (207), relay (209), connection terminal (203), air switch (205) is connected to form current supply circuit by wire, relay (209) is connected with artificial muscle group test platform (4).
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 the band reflective scraps of paper or with reflective sheet metal, described display and output device (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 group test platform (4) comprises base (406), base (406) is equipped with cooling mechanism and artificial-muscle attachment platform, described artificial-muscle attachment platform is provided with the artificial ligament (403) be made up of nylon wire, the upper interval of described artificial ligament (403) arranges one group of artificial-muscle actuating unit (404) be made up of SMA spring, described artificial-muscle attachment platform is equipped with one group and artificial-muscle actuating unit (404) connection jaws (407) one to one, described connection jaws (407) and relay (209) connect one to one.
5. a kind of artificial muscle aggregation group output characteristics proving installation according to claim 1, is characterized in that one end termination of output terminal (402) for artificial Muscle actuation unit (404) of described artificial muscle group test platform (4).
6. a kind of artificial muscle aggregation group output characteristics proving installation according to claim 1, it is characterized in that described artificial-muscle attachment platform comprises one group of back up pad be arranged in parallel (405), back up pad (405) is horizontally arranged at interval one group of cavity, cavity bottom interval arranges one group of through hole for artificial ligament (403) activity, artificial ligament (403) one end is fixed on hinge (402), the other end is fixed in exercise test mechanism back up pad farthest (405), and described back up pad (405) side is also provided with crossbeam (401).
7. a kind of artificial muscle aggregation group output characteristics proving installation according to claim 1, it is characterized in that cooling mechanism is arranged on artificial-muscle attachment platform side, it comprises the fan base (408) be fixedly installed on base (406), and described fan base (408) is upper installs the fan (409) be used for the heat radiation of artificial-muscle attachment platform.
8. an artificial muscle aggregation group output characteristics method of testing, is characterized in that described method comprises the steps:
1) first connect computing machine (1), artificial muscle's group control platform (2) and artificial muscle group test platform (4) successively, under external force, artificial-muscle actuating unit (404) is elongated;
2) need by test, the PLC (201) of artificial muscle's group control platform (2) is allowed to work by computing machine (1), by corresponding relay (209), corresponding connection jaws (407) is energized by PLC (201), 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) force snesor (7) be connected with the output terminal of artificial muscle group test platform (4) senses that artificial-muscle actuating unit (404) shrinks the power produced, Signal transmissions is to LMS data acquisition system (DAS) (6), record by being transferred to LMS data acquisition system (DAS) (6) and processing, recording the power of shrinking and producing;
4) artificial-muscle actuating unit (404) is in the process of shrinking, the reflecting piece be connected with the output terminal of artificial muscle group test platform (4) is also along with one starts, laser is beaten in reflecting piece by laser displacement sensor (3), the output displacement of the artificial muscle group of real-time detection, and testing result is outputted to display and output device (9).
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| CN110934679B (en) * | 2019-11-26 | 2021-02-19 | 北京航空航天大学 | Constant force traction control system based on pneumatic muscle |
| CN113029776B (en) * | 2021-02-08 | 2022-08-12 | 南京航空航天大学 | PVC gel artificial muscle performance test platform |
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