形状记忆合金驱动的仿人腕关节机构理论与运动控制  

Mechanism Theory and Motion Control of Humanoid Wrist Actuated by Shape Memory Alloy

作　　者：尹海斌[1] 薛欢 章志大 李玉峰[1] YIN Haibin;XUE Huan;ZHANG Zhida;LI Yufeng(School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学机电工程学院,武汉430070

出　　处：《机械科学与技术》2023年第2期181-189,共9页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金重大研究计划“共融机器人”培育项目(91848102)。

摘　　要：为提高仿人腕关节的运动性能,设计了一款形状记忆合金驱动的仿人腕关节样机,采用拮抗驱动方式实现对仿人腕关节的位置控制,并在相关理论和仿真分析的基础上,通过实验证明该系统模型具有一定的精度。通过样机运动控制实验,研究了拮抗驱动方式对系统运动性能的影响。结果表明,在拮抗驱动方式的不同频率信号跟踪实验中,对于单向正弦信号,跟踪误差最小为[−0.5°,1°],最大为[−1.5°,1.5°];对于双向正弦信号,腕关节能实现双向连续偏转,且当信号频率为1/15 Hz时,位置误差均小于[−1.5°,1.5°]。相比于采用单根形状记忆合金丝驱动,拮抗驱动方式有利于提升位置控制精度和双向偏转能力。Aiming at the improvement of the motion performance of the humanoid wrist,a prototype of the humanoid wrist actuated by shape memory alloy(SMA)is designed,and the position control of the wrist joint was realized by using the antagonistic driving.Based on the relevant theoretical and simulation analysis,the precision of the system model was proved by using the experiments.The effect of the antagonistic driving method on the motion performance of the system was studied by using the experiments of the motion control on the prototype.The results show that the minimum tracking error is[−0.5°,1°]and the maximum is[−1.5°,1.5°]for the one-way sinusoidal signals in different frequency tracking experiment with antagonistic driving method.For the sinusoidal signals,the wrist can move continuously in both directions and all of the position errors are less than[−1.5°,1.5°]when the signal frequency is 1/15 Hz.Comparing with the single-SMA-wire drive method,the antagonistic method is beneficial to improve the position control accuracy and bidirectional deflection ability.

关 键 词：仿人腕关节 形状记忆合金 拮抗驱动 位置控制 

分 类 号：TH39[机械工程—机械制造及自动化] TP241.3[自动化与计算机技术—检测技术与自动化装置]