• Smart Structures and Systems
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• v.16 no.3
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• pp.479-496
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• 2015

In this work, a novel artificial circular muscle based on shape memory alloy (S.M.A.) is proposed. The design is inspired from the natural circular muscles found in certain organs of the human body such as the small intestine. The heating of the prestrained SMA artificial muscle will induce its contraction. In order to measure the mechanical work provided in this case, the muscle will be mounted on a silicone rubber cylindrical tube prior to heating. After cooling, the reaction of the rubber tube will involve the return of the muscle to its prestrained state. A finite element model of the new SMA artificial muscle was built using the software "ABAQUS". The SMA thermomechanical behavior law was implemented using the user subroutine "UMAT". The numerical results of the finite element analysis of the SMA muscle are presented to shown that the proposed design is able to mimic the behavior of a natural circular muscle.

• Nuclear Engineering and Technology
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• v.56 no.2
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• pp.498-505
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• 2024

In this paper, a cable-driven endoscopic manipulator (CEM) is designed for the Chinese latest compact fusion reactor. The whole CEM arm is more than 3000 mm long and includes end vision tools, an endoscopic manipulator/control system, a feeding system, a drag chain system, support systems, a neutron shield door, etc. It can cover a range of ±45° of the vacuum chamber by working in a wrap-around mode, etc., to meet the need for observation at any position and angle. By placing all drive motors in the end drive box via a cable drive, cooling, and radiation protection of the entire robot can be facilitated. To address the CEM motion control problem, a discrete trajectory tracking method is proposed. By restricting each joint of the CEM to the target curve through segmental fitting, the trajectory tracking control is completed. To avoid the joint rotation angle overrun, a joint limit rotation angle optimization method is proposed based on the equivalent rod length principle. Finally, the CEM simulation system is established. The rationality of the structure design and the effectiveness of the motion control algorithm are verified by the simulation.