用形状记忆合金让扭绳执行器实现连续变速，轻量化结构提升适应性。
Design and Modeling of a Simple-Structured Continuously Variable Transmission Utilizing Shape Memory Alloy Superelasticity for Twisted String Actuator
- 用超弹性形状记忆合金杆连接扭绳两端，通过变形调节绳间距。
- 在负载下实现连续传动比变化，提升执行器在变载下的效率。
- 结构简单重量轻，适合对体积和重量敏感的机器人应用。
扭绳执行器（TSAs）在机器人中广泛应用，但其传动比（TR）变化范围有限，限制了在变载工况下的效率。为解决此问题，我们提出一种新型轻量、结构简单的连续变速传动（CVT）机构，利用形状记忆合金（SMA）的超弹性特性。该机构仅由一对轻质超弹性SMA棒构成，连接扭绳两端。在外加载荷作用下，SMA棒发生形变，调节两绳间距离，从而实现连续的传动比变化。我们建立了一个综合理论模型，整合了三种关键非线性因素：材料非线性、几何非线性和接触非线性，精确描述了系统的动态行为。实验验证表明，该设计可在1.5至3.2的传动比范围内实现平滑调节，且重量仅为传统方案的40%。该机构显著提升了扭绳执行器在复杂任务中的适应能力。
原文摘要 · Abstract (English)
Twisted String Actuators (TSAs) are widely used in robotics but suffer from a limited range of Transmission Ratio (TR) variation, restricting their efficiency under varying loads.To overcome this, we propose a novel lightweight, simple-structured Continuously Variable Transmission (CVT) mechanism for TSA utilizing Shape Memory Alloy (SMA) superelasticity. The CVT mechanism consists solely of a pair of highly lightweight superelastic SMA rods connecting the ends of twisted strings. These rods deform under external loads, adjusting the inter-string distance to enable continuous TR variation.We develop a comprehensive theoretical model that integrates three critical nonlinearities
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