摘要
基于对传统的柔性机械手的研究,模仿象鼻抓取物体的过程,以形状记忆合金丝为驱动材料,研制了一种仿象鼻柔性机械手。建立了柔性机械手的力学模型,设计了控制部分电路,并进行性能测试和数据分析,得到了通电电压、PWM占空比与通电时间对柔性机械手弯曲角度的影响。实验结果证明:仿象鼻机械手动作灵活,呈柔性,可控制仿象鼻机械手的弯曲角度与方向,实现对物体的抓取。
0n the basis of the research of traditional rigid manipulator,imitating grabbing by trunk,a flexible manipulator drived by shape memory alloy（SMA） wires was designed.The mechanical model of it was established and the circuits and program was designed.The performance tests were made and the result data were analyzed to study effect of vohage,duty ratio of PWM and conduction time on the blending angle of the trunk manipulator.Experiment results show that the bionic trunk manipulator is flexible and the deformation angle can be controlled to grasp objects.
出处
《微特电机》
北大核心
2014年第9期10-14,24,共6页
Small & Special Electrical Machines
基金
中央高校基本科研业务费专项资金项目(DL12BB19)
黑龙江省自然科学基金项目(QC2013C058)
关键词
仿生象鼻
形状记忆合金丝
柔性机械手
bionic trunk
shape memory alloy （SMA） wires
flexible manipulator
