多指灵巧手复合驱动系统的研究

发布时间：2018-06-16 19:55

本文选题：复合驱动 + 记忆合金　；参考：《机械传动》2017年03期

【摘要】：针对传统驱动方式中电机驱动系统的结构复杂、液压驱动系统的体积庞大、气压驱动系统的控制困难等问题,提出一种新型复合驱动系统,该系统由微型盘式无刷直流电机和温控记忆合金弹簧驱动,将复合驱动系统用于仿人多指灵巧手手指的驱动,简化灵巧手的整体结构,优化控制方式。探究记忆合金弹簧的回复力与工作行程的关系,分析指节间位姿变换关系和抓取物体时影响指节接触力大小的因素,利用滑模PID智能控制策略控制手指的运动,使灵巧手的控制效率得到提高。对多指灵巧手模型仿真,验证运动的合理可行,为复合驱动系统的进一步研究提供了基础。
[Abstract]:In view of the problems of complex structure of motor drive system, huge volume of hydraulic drive system and difficult control of pneumatic drive system in traditional driving mode, a new type of compound drive system is proposed. The system is driven by a miniature disk brushless DC motor and a temperature controlled memory alloy spring. The compound drive system is used to drive the finger of the humanoid multi-fingered dexterous hand, which simplifies the whole structure of the dexterous hand and optimizes the control mode. This paper probes into the relationship between the recovery force of the memory alloy spring and the working stroke, analyzes the relationship between the position and attitude transformation between the knuckles and the factors affecting the contact force of the knuckles when grasping objects, and uses the sliding mode pid intelligent control strategy to control the movement of the finger. The control efficiency of dexterous hand is improved. The simulation of multi-fingered dexterous hand model verifies the rationality and feasibility of the motion and provides the basis for the further research of the compound driving system.
【作者单位】：重庆交通大学机电与车辆工程学院;重庆华数机器人有限公司;
【基金】：国家自然科学基金(51375519) 重庆市研究生科研创新基金(CYS15181);重庆市研究生科研创新基金(CYS16190)
【分类号】：TP241

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