ABB 57510001-BC DSTC 181 音频调制解调器

　　人类和机械臂的灵活性都存在限制。关节通常相当笨重并且连接刚性骨骼或机械组件。运动通常受限于某些空间方向。相比之下，象鼻或章鱼的触手提供了更大的敏捷性。数以万计的肌肉的存在使这些生物能够向各个方向移动躯干或触手，将其弯曲到恰到好处的程度，并以强大的力量抓住事物。

　　研究人员已经开发出灵活的机器人手臂，它使用由形状记忆线制成的“肌肉”构成，几乎可以向任何方向弯曲并绕着拐角缠绕。灵活的手臂是电动的，消除了气动设备或其他笨重的配件。由于形状记忆合金本身具有传感器特性，因此无需额外传感器即可控制手臂。这项新技术可用于制造具有象鼻灵活性的大型机械臂，或用于内窥镜手术的超细触手。

　　控制的人造触手可用作心脏手术中的导丝，或用作胃镜和结肠镜手术中的内窥镜。人造触手配备了附加功能，例如抓手或具有可调节刚度的，可提供改进的推力。该技术还可以扩大规模以生产与大象的躯干相似的大型机械臂。

　　“肌肉”由能够以受控方式收缩和拉长的超细镍钛（镍钛诺）线组成。超细镍钛合金线像真正的肌肉一样收缩，这取决于电流是否流动。镍钛被称为形状记忆合金，这意味着它能够记住自己的形状并在变形后恢复到原来的形状。如果电流流过镍钛诺线，材料会升温，导致其采用不同的晶体结构，结果线变得更短。如果电流被切断，电线会冷却下来并再次拉长。

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　　⑩Bosch Rexroth(博世力士乐)：Indramat，I/O模块,PLC控制器,驱动模块等。

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　　There are limits to the flexibility of both human and robotic arms. The joints are often rather bulky and connect rigid bones or mechanical assemblies. Motion is typically restricted to certain spatial directions. In contrast, an elephant trunk or an octopus tentacle offer far greater agility. The presence of tens of thousands of muscles enables these creatures to move the trunk or tentacle in all directions, to bend it to just the right degree, and to grip things with great power.

　　Researchers have developed flexible robot arms constructed using ‘muscles’ made from shape-memory wires that can bend in almost any direction and wind themselves around corners. The flexible arms are powered electrically, eliminating pneumatic equipment or other bulky accessories. As the shape-memory alloy itself has sensor properties, the arms can be controlled without the need for additional sensors. The new technology can be used to build large robotic arms with the flexibility of an elephant’s trunk, or ultrafine tentacles for use in endoscopic operations.

　　Precisely controlled artificial tentacles could be used as guide wires in cardiac surgery or as an endoscope in gastroscopic and colonoscopic procedures. The artificial tentacles are equipped with additional functions such as a gripper or a tip with adjustable stiffness that delivers an improved pushing force. The technology can also be scaled up to produce large robotic arms not dissimilar to an elephant’s trunk.

　　The ‘muscles’ are composed of ultrafine nickel-titanium (nitinol) wires that are able to contract and lengthen in a controlled manner. The ultrafine nitinol wires contract like real muscles, depending on whether an electric current is flowing or not. Nickel-titanium is known as a shape memory alloy, which means that it is able to remember its shape and return to that original shape after being deformed. If an electric current flows through a nitinol wire, the material heats up, causing it to adopt a different crystal structure with the result that the wire becomes shorter. If the current is switched off, the wire cools down and lengthens again.