摘要
针对现有手部康复训练装置结构复杂、便携性能差等问题,提出一种基于形状记忆合金弹簧的新型手部康复训练装置。该装置通过欠驱动模式,用单根记忆合金弹簧与多根普通弹簧驱动,实现了手部康复训练装置的小型化、便携化以及操作简易化。对形状记忆合金弹簧输出力与输出行程的关系进行了探究并实验验证;分析了指节输出力的影响因素;对比分析PID控制与模糊控制两种控制方式,使得装置的控制效率得到提升;对装置进行仿真及实验,验证了装置的合理性,为下一步装置的优化提供了基础。
A new type of hand rehabilitation training device based on shape memory alloy spring is pro⁃posed for the existing hand rehabilitation training device with complex structure and poor portability.The device realizes miniaturization,portability and easy operation of hand rehabilitation training device through underactu⁃ation mode,driven by single memory alloy spring and multiple common springs.The relationship between the output force and the output stroke of the shape memory alloy spring is investigated and experimentally verified.The influencing factors of knuckle output force are analyzed.By comparing PID control and fuzzy control,the control efficiency of the device is improved.The simulation and experiment on the device verify the rationality of the device,and provide a research basis for the optimization of the device in the next step.
作者
封凯迪
杨岩
Feng Kaidi;Yang Yan(College of Mechanical Engineering,Chongqing University of Technology,Chongqing 400054,China)
出处
《机械传动》
北大核心
2020年第2期144-149,共6页
Journal of Mechanical Transmission
基金
重庆市科委重点项目（Cstc2017rgzn-zdyfX0010）
关键词
欠驱动
形状记忆合金
训练装置
仿真
Underactuated
Shape memory alloy
Training device
Simulation
