| 1. | Correspondingly , two micromachines , made of sma bidirectional bending elements and linear actuating elements according to element - interconnection idea , are studied , and their kinematical equations are founded , respectively 对两类分别由sma驱动双向弯曲、轴向伸缩基本单元互联而成的微执行机构,进行了运动学分析,并建立了各自的运动学方程。 |