一种复合驱动指关节设计与仿真

Design and Simulation of a Composite Drive Finger Joint

针对电机驱动功重比较低、驱动反应速度较慢等问题,结合人手的运动机理,设计了一种复合驱动指关节。采用SMA-电机复合驱动系统。电机驱动通过皮带轮和联动轴实现指关节的弯曲功能;SMA驱动通过形状记忆合金丝通电加热收缩产生驱动力矩,由连接块的移动转变为关节的转动。最后,通过运动仿真进行分析,结果表明:SMA驱动的加载速度明显优于电机驱动,为复合驱动关节的设计提供了理论依据。

In view of the low work weight of the motor and the slow speed of the driving reaction,a composite driving finger joint is designed,combined with the movement mechanism of the human hand,which is driven by the SMA-motor compound drive system.The flexural work energy of the finger joints is driven by the pulley and the linkage axis from the motor.The rotation of the joint,from the movement of connecting block,is driven by SMA through the shape memory alloy wire.Finally,the motion simulation is researched,showing that the loading speed of the SMA drive is obviously better than that of the motor drive,which provides a theoretical basis for the design of the composite driving joint.