摘要
介绍了一种新型SMA驱动器 ,从理论和实验上研究了驱动器的弯曲变形原理。通过开环实验 ,得到了SMA驱动器的控制模型 ,并对驱动器P+控制进行了实验研究。最后 ,利用多驱动器的组合制作了一柔性机械手演示装置 ,实验证明 。
A novel embedded shape memory alloy (SMA) actuator was first described. Based on the analysis of the actuators′ bending experimentally and theoretically, a homogeneous transformation matrix was derived. After time domain open loop experiments and simulation, the simple model of the actuator was derived. The P + controller was then applied to the novel actuator. A robot hand using several SMA actuators was designed, and the grasping experiment shows that the robot hand works well.
出处
《机械科学与技术》
CSCD
北大核心
2004年第6期634-636,共3页
Mechanical Science and Technology for Aerospace Engineering
