基于内嵌式SMA电机的柔性机械手研制  

A FLEXIBLE ROBOT HAND WITH EMBEDDED SMA ACTUATORS

作　　者：杨凯[1] 辜承林[1] 严新荣[2] 

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 [2]中国电机工程学会,北京100761

出　　处：《中国电机工程学报》2002年第12期74-79,共6页Proceedings of the CSEE

基　　金：国家自然科学基金项目(59877004)。

摘　　要：该文描述了一种新型柔性机械手的研制。这种新型机械手能够实现拟人抓取中的平滑运动。手指外径10mm,由两个弯曲部分、一个连接部分组成,弯曲部分为偏心嵌有线性SMA驱动器的单元电机;介绍了SMA丝和弹性手指的尺寸规格设计和制作方法;详细研究了弯曲部分的机械特性并给出了基于电阻反馈的控制系统;最后设计制作了一个三指机械手,抓取实验证明:机械手能较好完成平滑拟人抓取。This paper describes the development of an active robot hand, which allows smooth and lifelike motions for anthropomorphic grasping .An active robot finger 10mm in outer diameter with a shape memory alloy (SMA) wire actuator embedded to the finger with a constant distance from the geometric center of the finger was designed and fabricated. The practical specifications of the SMA wire and the flexible rod were determined based on a series of formulae. The active finger consists of two bending parts, the SMA actuators, and a connecting part. The mechanical properties of the bending part are investigated. The control system on the base of resistance feedback is also presented. Finally, we design a robot hand with three fingers, and the grasping experiment was carried out to prove the hand works well.

关 键 词：内嵌式SMA电机 柔性机械手 形状记忆合金 驱动器 弯曲 手指 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]