摘要
螺旋卷绕型聚合物人工肌肉作为一种新型致动器,因具有较高的柔韧性、通用性和功率密度,在柔性驱动领域具有广阔的应用前景。本文设计了一种螺旋卷绕型人工肌肉驱动的多自由度机械手指模型,建立了热驱动型人工肌肉的物理模型,实现了对机械手指多关节偏转的控制和运动分析。结果表明,人工肌肉的收缩量随温度的增加呈非线性增加;机械手指的关节偏转角随温度或肌肉收缩量的增大而增大。提出的人工肌肉驱动的多自由度手指模型,为实现其在机械手领域中的应用奠定了基础。
As a new kind of actuator,the twisted and coiled polymer(TCP)artificial muscle has a broad application prospect in the field of flexible actuation due to its good flexibility,versatility and high efficiency.In this paper,a model of multi-degree-of-freedom humanoid finger driven by TCP artificial muscle is proposed.The physical model of heat-driven artificial muscle is also established,which realizes the control and motion analysis of the multi-joint deflection of the humanoid finger.The results show that the contraction of artificial muscle increases non-linearly with the increase of temperature.The joint deflection of the humanoid finger increases with the increase of temperature or muscle contraction.The proposed multi-freedom finger model lays a foundation for its application in the field of manipulator.
作者
甘辩
李骞
李梦天
余河清
刘磊
刘大彪
GAN Bian;LI Qian;LI Mengtian;YU Heqing;LIU Lei;LIU Dabiao(School of Aerospace Engineering,Huazhong University of Science and Technology,Wuhan 430074,China;Hubei Key Laboratory of Engineering Structural Analysis and Safety Assessment,Wuhan 430074,China)
出处
《力学与实践》
北大核心
2021年第6期842-848,共7页
Mechanics in Engineering
基金
国家自然科学基金(11972168)
武汉市应用基础前沿项目(2020010601012174)资助。
关键词
机械手指
人工肌肉
自由度
致动特性
humanoid finger
artificial muscles
degree of freedom
actuation performance
