新型记忆合金拟人执行器机构与参数设计  

Design of the mechanism and parameters for novel shape memory alloy humanoid hand

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）》2008年第3期122-125,共4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);华中科技大学科研基金重点资助项目(2006)

摘　　要：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,实现平面弯曲运动且响应快速.采用外部信号反馈方式,设计曲率传感器实现电机的精确位置控制.以结构小巧紧凑、功能完备稳定的人手为模型与目标,直接将平面弯曲型内嵌式形状记忆合金电机作为指节,构造拟人执行器.从仿生学角度,结合实验研究,对平面弯曲内嵌式形状记忆合金的长度、棒半径、丝半径、可回复曲率与偏心距等关键结构参数进行优化设计.由常见机械手结构型式与特点入手,提出了带手掌三指结构.最后结合可操作体积评价指标,确定了拟人执行器拇指与中指和无名指的间距.Several shape memory alloy（SMA） wires are embedded in liquid rubber at room temperature to form planar bending and spacial bending SMA actuators（SMAAs）. External signal feedback is adopted to realize precise displacement control depending on the curvature sensors. Regarding human beings＇ hand with compact configuration and self-contained functions as model and goal, SMAAs are served as fingers directly for humanoid hand. From the point of bionics, the length, wire＇s radius and recoverable curvature, rod＇s radius and offset distance of SMAAs are optimized according to experi mental research. The three fingered structure with palm is derived from usual structural manner and characteristic of robot hand. Finally, the distance between thumb and middle finger and ring finger is determined in cooperation with optimization index.

关 键 词：形状记忆合金 内嵌式电机 平面弯曲 拟人执行器 优化设计 

分 类 号：TM34[电气工程—电机]