软体机器人抓手人工肌肉丝的制作和研究

Design and Research of the Artificial Muscle Filament of a Software Robot’s Tongs

以新型聚合物螺旋卷绕型人工肌肉丝为研究对象,研究并分析了聚合物螺旋卷绕型人工肌肉丝的制作和结构改良,重点在人工肌肉丝卷绕方法、卷绕结构、和控制人工肌肉丝收缩的降温方式的改良.设计了新型装置,并用此新型装置对人工肌肉丝的卷绕方法进行了改良;研制了螺旋网状输液管编制的降温装置,该装置能对人工肌肉丝实现更好的降温控制,同时通过不同的金属材料与尼龙丝缠绕,不断调整每种材料适宜的配重.经过多次试验,最后发现镍丝金属丝与尼龙丝卷绕的效果最好,需要的配重最适宜,卷绕成良好均匀的人工肌肉丝的成功概率最高.

In this paper, a new type of polymer helical wound artificial muscle silk was studied and analyzed. The improvement of the manufacturing and structure of the polymer helical wound artificial muscle silk was studied, with emphasis on the improvement of the winding method, winding structure and the cooling way of controlling the contraction of the artificial muscle silk. We designed the new device ourselves and improved the winding method of the artificial muscle silk. For cooling methods, we developed a spiral mesh cooling device. The device can realize the better cooling control of artificial and shredded meat. At the same time we constantly adjust each material appropriate weight, twisting different metallic materials with nylon yarn. After many failures, we finally find that the nickel wire combines with nylon yarn shows the best winding effect and the most appropriate weight.