新型SMA驱动器与仿生手研究

Research on New SMA Actuator and Bionic Hand

设计了一种基于多边形SMA驱动器的模块化欠驱动5指仿生手,整体质量260 g,每根手并通过内部的滑轮结构将驱动位移提高了1倍。建立了驱动电流与输出位移以及温度与驱动电压的数学模型,解决了驱动位移小、温度反馈控制实时性差的问题。实验结果表明,新型多边形SMA驱动器具有体积小、质量轻、驱动位移大的优点,通过电流和温度的双重反馈控制算法,实现了对输出位移的控制并提升了SMA驱动器在不同环境温度下的响应速度;抓取实验验证了仿生手的抓取能力。研究结果为推进SMA仿生手的应用提供了一种思路。

A modular underactuated five-finger bionic hand based on polygon SMA actuator is designed.The overall mass is 260 g,each finger can be disassembled and driven independently. The effective length of SMA wire is improved by using the series and put of multi-section steel sheet and SMA wire,and the driving displacement is increased by one time through the inner pulley structure. The mathematical models of driving current and output displacement as well as temperature and driving voltage are established to solve the problems of small driving displacement and poor real-time performance of temperature feedback control. The experimental results show that the new polygon SMA actuator has small volume,light quality,drive a large displacement,through the double feedback current and temperature control algorithm,the precise control of output displacement is realized and the SMA actuator response speed under different environmental temperature is improved,by fetching experiments,the bionic hand grasping ability is verified. The research results provide a way to promote the application of SMA bionic hand.