基于内嵌式SMA电机的多指手驱动控制系统  

Driving and controlling system for multi-fingered robot hand using SMA actuators

作　　者：杨凯[1] 贺晋华[1] 辜承林[1] 

机构地区：[1]华中科技大学电气与电子工程学院,湖北武汉430074

出　　处：《华中科技大学学报（自然科学版）》2007年第6期64-66,共3页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(50507007);华中科技大学校基金重点资助项目(2006)

摘　　要：提出了嵌入式方法,室温时将多根形状记忆合金丝嵌入液态橡胶中固化成弹性棒,由此构成内嵌式形状记忆合金电机.以结构小巧紧凑、功能完备稳定的人手为模型与目标,直接将内嵌式形状记忆合金电机作为指节,构造多指拟人机械手.阐述了记忆合金机械手的驱动控制系统的构成与实现.对DSP最小系统、加热模块、检测模块进行了设计.进行了软件系统的规划和实现,构建了完整的记忆合金机械手驱动控制系统.对单机阶跃响应以及多机协调运行等内容进行了实验研究.实验表明,单指节响应上升时间约为0.55 s,机械手基本能够按预定轨迹运行.The strategy of ＂embedded＂ is presented firstly. Severalshape memory alloy（SMA） wires are embedded in liquid rubber at room temperature to form embedded SMA actuators（ESMAAs）. Regarding human beings＇ hand with compact configuration and self-contained functions as model and goal, ESMAAs are served as fingers directly to develop anthropopathic hand. The structure and realization of drive and control system for SMA robot hand are depicted in detail. The hardware system is built from aspects of DSP （digital signal processor） minimal system, heating module and measuring module. Subsequently, the software system is planed and completed to form integral drive and control system for SMA hand. Finally, the experiments, such as open-loop response of single knuckle, step response and harmonious operation of multiplex fingers, are carried out. It is shown in the experiments that the rise time for single knuckle is about 0.55s and the robot hand could operate according to the planed track.

关 键 词：内嵌式记忆合金电机 机械手 驱动控制系统 

分 类 号：TM34[电气工程—电机]