摘要
由于SMA驱动器具有结构简单、控制简单、功率密度大的特性,在仿人灵巧手的驱动装置中得到广泛研究。但是在实际应用中存在驱动位移小的问题,需要将驱动器放置到手臂中来增加驱动位移。采用模块化的欠驱动手指结构设计,将形状记忆合金丝直接作为传动和驱动部件,设计了驱动位移放大结构,并采用永磁铁作为复位结构,实现了驱动与传动的一体式轻量化设计。对仿人灵巧手的传动结构进行了分析。通过3D打印手指模型并组装了单根手指,实现了对日常用品的抓取操作。
The shape memory alloy（SMA） actuator has many excellent properties,such as simple structure,easy to control,high power weight ratio,which makes it widely been studied in the dexterous hand as actuator.But the driving displacement is small in practical application,and need to place the drive into the arms to increase drive displacement.The module of under actuated finger structure is designed.The SMA wire worked as actuator.A novel pulley which could amplify the output displacement of actuator is designed.The permanent magnet device provided pre-stretch and restore function,which implemented the drive and transmission of one-piece lightweight design.The transmission structure of the humanoid dexterous hand is analyzed.Finally,the model of finger is made by 3D printer and assemble the single finger,implements the crawl of daily supplies.
出处
《机械传动》
CSCD
北大核心
2017年第2期104-107,共4页
Journal of Mechanical Transmission
基金
国家863计划项目(2015AA042302)
关键词
SMA驱动器
预拉伸
永磁铁
位移放大
欠驱动
SMA actuator
Pre-stretch
Permanent magnets
Displacement amplification
Under actuated
