基于形状记忆合金的软体指套设计与精确控制  

Design and precise control of soft fingerstall based on shape memory alloy

作　　者：韦畅旸 金虎 张世武[1] WEI Changyang;JIN Hu;ZHANG Shiwu(School of Engineering Science,University of Science and Technology of China,Hefei 230027,China)

机构地区：[1]中国科学技术大学工程科学学院,安徽合肥230027

出　　处：《传感器与微系统》2024年第1期72-75,共4页Transducer and Microsystem Technologies

基　　金：中央高校基本科研业务费专项资金资助项目(WK5290000002)。

摘　　要：提出了一种基于形状记忆合金(SMA)弹簧驱动的软体指套。设计了基于霍尔传感器的传感系统,以精确感知指套弯曲状态。通过分析人手的结构和运动特征,建立了指套的运动学模型。最后,搭建实验平台,开展传感器标定实验分析,完成锯齿状速度曲线跟踪。实验结果表明:软体指套通过高精度的位置信息和经典PID控制器,能够实现精确运动控制。A soft fingerstall actuated by shape memory alloy(SMA)springs is proposed.A sensing system using Hall sensors is designed to accurately sense the bending state of the fingerstall.By analyzing the structure and motion characteristics of hand,the kinematic model of fingerstall is built.Finally,an experimental platform is built to carry out sensor calibration experiments and analysis,serrated velocity curve tracking is completed.The experimental results show that the soft fingerstall can realize precise motion control through high precision position information and a classical PID controller.

关 键 词：形状记忆合金 霍尔传感器 软体指套 精确控制 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]