一种SMA驱动的新型仿生手
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摘要
采用独立化设计方法,将仿生手分为控制模块、手指模块、散热模块并进行单独设计,制作了集成化的仿生手,可以快捷地实现模块化手指的分离与组装。采用形状记忆合金丝作为驱动器,设计了可以实现驱动位移放大的凸轮结构,使S M A在驱动过程中的有效输出位移得到有效放大。在Matlab中对仿生手进行了运动空间仿真,并通过3 D打印制作了总质量为410 g的仿生手样机。采用温度反馈方式,提高了仿生手在不同温度环境中的响应能力以及对SMA的温度保护,对日常生活物品进行了抓取实验验证。结果表明,新型仿生手具有较大的抓取尺寸和抓取重量,具有拆装方便、控制简单、抓取稳定的优点,实现了控制与驱动的高度集成。
By using independent design method,the control module,figure module and thermal module of bionic hand are designed separately,the integration bionic hand is fabricated and can realization separation and assemble quickly. By using the Shape memory alloy(SMA)wire as actuator,the cam structure of displacement amplifier is designed,which can increase the output displacement of SMA in the driving process. Using Matlab,the simulation of kinematics and motion space is conducted,the bionic hand prototype is fabricated through 3D printing,which is 410 g. The response capability of bionic hand in different temperature environment and temperature protection for SMA are improved by temperature feedback,and grasping manipulation test for everyday objects is verified. Results show the novel bionic hand possesses the ability of grasping larger and heavier objects,and convenient disassembly and assembly,simple control,and stable grasping,which realizes the design of high integration.
By using independent design method,the control module,figure module and thermal module of bionic hand are designed separately,the integration bionic hand is fabricated and can realization separation and assemble quickly. By using the Shape memory alloy(SMA)wire as actuator,the cam structure of displacement amplifier is designed,which can increase the output displacement of SMA in the driving process. Using Matlab,the simulation of kinematics and motion space is conducted,the bionic hand prototype is fabricated through 3D printing,which is 410 g. The response capability of bionic hand in different temperature environment and temperature protection for SMA are improved by temperature feedback,and grasping manipulation test for everyday objects is verified. Results show the novel bionic hand possesses the ability of grasping larger and heavier objects,and convenient disassembly and assembly,simple control,and stable grasping,which realizes the design of high integration.
引文
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[8]郝丽娜,郭少飞,陈洋.基于SMA丝驱动的仿人手指传动结构设计与研究[J].机械传动,2017,41(2):104-107.
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[13]孟凡文.NTC热敏电阻的非线性误差及其补偿[J].传感器世界,2003(5):21-24.
[2]王志恒,钱少明,杨庆华,等.气动机器人多指仿生手--ZJUT Hand[J].机器人,2012,34(2):223-230.
[3]SCHULZ A,PYLATIUK C,KARGOV A,et al.Progress in the development of anthropomorphic fluidic hands and their applications[C].Mechatronics&Robotics,2004:936-941.
[4]张钦国,于萍,刘京广,等.基于柔性液压系统的三关节仿人仿生手指的设计与研究[J].机械设计与制造,2010(7):44-46.
[5]ANDRIANESIS K,TZES A.Development and control of a multifunctional prosthetic hand with shape memory alloy actuators[J].Journal of Intelligent&Robotic Systems,2014,78(2):257-289.
[6]SHE Y,LI C,CLEARY J,SU H J.Design and fabrication of a soft robotic hand with embedded actuators and sensors[J].Journal of Mechanisms&Robotics,2015,7(2):JMR-14-1224.
[7]郝丽娜,郭少飞,陈洋.SMA驱动的模块化仿人手指设计与研究[J].东北大学学报(自然科学版),2017,38(8):1137-1141.
[8]郝丽娜,郭少飞,陈洋.基于SMA丝驱动的仿人手指传动结构设计与研究[J].机械传动,2017,41(2):104-107.
[9]ANDRIANESIS K,TZES A.Development and control of a multifunctional prosthetic hand with shape memory alloy actuators[J].Journal of Intelligent and Robotic Systems,2015,78(2):257-289.
[10]KIM H I,HAN M W,SONG S H,et al.Soft morphing hand driven by SMA tendon wire[J].Composites Part B:Engineering,2016,105:138-148.
[11]KO J,JUN M B,GILARDI G,et al.Fuzzy PWM-PID control of cocontracting antagonistic shape memory alloy muscle pairs in an artificial finger[J].Mechatronics,2011,21(7):1190-1202.
[12]BUNDHOO V,HASLAM E,BIRCH B,et al.A shape memory alloy-based tendon-driven actuation system for biomimetic artificial fingers,part I:design and evaluation[J].Robotica,2009,27(1):131-146.
[13]孟凡文.NTC热敏电阻的非线性误差及其补偿[J].传感器世界,2003(5):21-24.