SMA驱动的模块化仿人手指设计与研究

发布时间：2018-02-14 08:21

本文关键词： SMA驱动器预拉伸永磁铁位移放大欠驱动　出处：《东北大学学报(自然科学版)》2017年08期 　论文类型：期刊论文

【摘要】：采用模块化的欠驱动手指结构设计,形状记忆合金丝作为驱动器,永磁铁装置提供预拉紧和复位功能,使得SMA驱动器的输出力比弹簧预紧提高了6 N以上.通过驱动位移放大滑轮,使SMA驱动器的输出位移增大了2.1倍.最后,通过3D打印技术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.本研究有效解决了SMA驱动器驱动位移小、预拉伸和输出力相矛盾的问题,为形状记忆合金材料作为仿生驱动装置的应用提供了设计思路.
[Abstract]:Using modular underactuated finger structure design, shape memory alloy wire as driver, permanent magnet device to provide pretension and reset functions, The output force of the SMA driver is more than 6 N higher than that of the spring pre-tightening. The output displacement of the SMA driver is increased by 2.1 times by driving the displacement amplification pulley. Finally, the model of the finger is printed and the single finger is assembled by 3D printing technology. This study effectively solves the problems of low driving displacement of SMA driver, contradiction between pretension and output force, and provides a design idea for the application of shape memory alloy material as a bionic driving device.
【作者单位】：东北大学机械工程与自动化学院;
【基金】：国家高技术研究发展计划项目(2015AA042302)
【分类号】：R318;TP391.73

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