摘要
为提高服务型机器人仿人手的逼真度,从仿生的角度出发,提出一种基于形状记忆合金(SMA)丝驱动的柔性仿人手。设计了仿人手的仿生结构,推导了基于SMA丝的软手指驱动模型,并在制造的软手指上通过实验验证了模型的准确性。最终搭建了完整的柔性仿人手样机,可以实现与人握手和简单的手势展示。
In order to improve the fidelity of the artificial hand of the service robot,from the perspective of bionics,a flexible artificial hand based on shape memory alloy(SMA)wire drive is proposed.A bionic structure imitating a human hand was designed,a soft finger drive model based on SMA wire was deduced,and the accuracy of the model was verified through experiments on the manufactured soft finger.Finally,a complete flexible hand-simulating prototype was built,which can realize handshake with people and simple gesture display.
作者
黄东煜
林尚灿
苏满佳
HUANG Dong-yu;LIN Shang-can;SU Man-jia(School of Electromechanical Engineering,Guangdong University of Technology,Guangzhou 510006,China)
出处
《机械工程与自动化》
2021年第4期12-14,共3页
Mechanical Engineering & Automation
基金
广东省“扬帆计划”引进创新创业团队项目(2017YT05G026)。
关键词
软手指
SMA丝
驱动模型
仿人手样机
soft finger
SMA wire
drive model
human-like hand prototype
