Study on Steady-state Heat Transfer of Soft Manipulators with Variable Stiffness Based on Low-melting-point Alloy Phase Transition

doi:10.3969/j.issn.1004-132X.2021.07.005

China Mechanical Engineering ›› 2021, Vol. 32 ›› Issue (07): 793-798.DOI: 10.3969/j.issn.1004-132X.2021.07.005

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Study on Steady-state Heat Transfer of Soft Manipulators with Variable Stiffness Based on Low-melting-point Alloy Phase Transition

WANG Fengxu1;XING Zhiguang1,2;YANG Pengpeng1,2;LIN Jun1;ZHAO Jianwen1,2

1.Department of Mechanical Engineering,Harbin Institute of Technology,Weihai,Shandong,264209
2.Industrial Research Institute of Robotics and Intelligent Equipment at Weihai,Weihai,Shandong,264209

Online:2021-04-10 Published:2021-04-16

基于低熔点合金相变的变刚度软体机械臂稳态传热研究

王封旭1;邢志广1,2;杨朋朋1,2;林俊1;赵建文1,2

1.哈尔滨工业大学（威海）机械工程系，威海，264209
2.威海机器人与智能装备产业研究院，威海，264209

通讯作者: 赵建文（通信作者），男，1978年生，教授、博士研究生导师。研究方向为软传感器、柔性机器人、基于软传感器的人体运动测量技术等。E-mail：zhaojianwen@hit.edu.cn。
作者简介:王封旭，男，1994年生，博士研究生。研究方向为软体机器人、柔性机器人、机器人视觉等。发表论文近10篇。E-mail：wangfengxu_hit@163.com。
基金资助:
国家自然科学基金重大研究计划培育项目（91648106）

Abstract

Abstract: The steady-state heat transfer model for the soft manipulators with variable stiffness based on LMPA phase transition was established to calculate the temperature changing, heat transfer power of each parts and the convective heat transfer of water in the spiral coil during steady-state heat transfer. Then, the steady-state heat transfer process was simulated by COMSOL Multiphysics. The differences between simulation and analysis model are within 4.5%. The theoretical analysis and simulation may be used to guide the design of variable stiffness modules.

Key words: soft manipulator, low-melting-point alloy（LMPA）； variable stiffness, thermal modeling, steady-state heat transfer

摘要： 建立了基于低熔点合金相变的变刚度软体机械臂稳态传热模型，通过理论方法计算了机械臂稳态传热过程中各子模块的温度、传热功率和螺旋盘管中水的对流换热情况，并利用COMSOL Multiphysics仿真软件直观表达其稳态传热过程。仿真结果与理论计算结果差异在4.5%以内。理论分析和仿真结果可用于指导软体机械臂变刚度模块的设计。

关键词: 软体机械臂, 低熔点合金, 可变刚度, 热学建模, 稳态传热

CLC Number:

TP242.6

WANG Fengxu, XING Zhiguang, YANG Pengpeng, LIN Jun, ZHAO Jianwen, . Study on Steady-state Heat Transfer of Soft Manipulators with Variable Stiffness Based on Low-melting-point Alloy Phase Transition[J]. China Mechanical Engineering, 2021, 32(07): 793-798.

王封旭, 邢志广, 杨朋朋, 林俊, 赵建文, . 基于低熔点合金相变的变刚度软体机械臂稳态传热研究[J]. 中国机械工程, 2021, 32(07): 793-798.

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Study on Steady-state Heat Transfer of Soft Manipulators with Variable Stiffness Based on Low-melting-point Alloy Phase Transition

基于低熔点合金相变的变刚度软体机械臂稳态传热研究

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