基于形状记忆合金驱动的柔性机械臂研究  

Research on Flexible Manipulator Driven by Shape Memory Alloy

作　　者：张林飞[1] 许旻[1] 杨浩[1] 金虎[1] 

机构地区：[1]中国科学技术大学工程科学学院精密机械与精密仪器系,安徽合肥230026

出　　处：《机械与电子》2017年第6期72-76,共5页Machinery & Electronics

基　　金：国家自然科学基金(61375095)

摘　　要：提出了一种基于形状记忆合金(SMA)弹簧驱动的柔性驱动模块,柔性驱动模块能够实现三维空间弯曲变形运动。以柔性驱动模块为模块单元,模块化组装了四关节柔性机械臂。基于SMA电阻变化特性,建立了SMA电阻自反馈控制系统,开展了柔性驱动器变形的参数化分析。进一步建立了柔性机械臂的多模态运动控制系统,实现了柔性机械臂的空间蜷缩抓取运动,通过实验验证了柔性机械臂灵活的空间运动能力。The paper proposes a flexible drive module driven by shape memory alloy （SMA） springs,which can realize the three - dimensional bending deformation. In the research, a four - joint flexible ma-nipulator was assembled with the flexible drive module. Based on the change characteristics of SMA resist-ance, a self- feedback control system was established, and the deformation of the flexible actuator was an-alysed. Furthermore, a multi- model motion control system of the flexible manipulator was built to graspobjects by curling its arm. The results prove the flexibility of the flexible manipulator in spatial motion.

关 键 词：柔性机械臂 形状记忆合金弹簧 电阻反馈 柔性机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]