基于SMA的无人机机械臂关节旋转驱动优化设计  

Optimization design of joint rotation drive for unmanned aerial vehicle robotic arm based on SMA

作　　者：周著学 郝玉良[1] 于萍 ZHOU Zhuxue;HAO Yuliang;YU Ping(Provincial Key Laboratory of Industrial Robot Measurement and Control,Rapid Die Manufacturing,Minnan University of Science and Technology,Fujian Shishi 362700,China)

机构地区：[1]闽南理工学院工业机器人测控与模具快速制造福建省高校重点实验室,福建石狮362700

出　　处：《黑龙江工程学院学报》2025年第1期16-21,共6页Journal of Heilongjiang Institute of Technology

基　　金：福建省教育厅中青年教师教育科研项目(科技类)(JAT190874);闽南理工学院校级科研项目(22KJX011)。

摘　　要：随着无人机勘探技术的发展,无人机机械臂在执行任务时的作用显得尤为重要。为了最大限度地驱动优化机械臂关节的旋转,提高机械臂的运动精度,提出一种基于形状记忆合金的无人机机械臂关节旋转驱动优化方法。文中对三自由度无人机机械臂开展运动学分析,并通过实验对SMA驱动器的性能进行模拟与验证,确保设计的可靠性。结果显示,所提出算法的平均绝对误差值较小,并无限趋近于0。应用效果显示,机械臂在x轴、y轴与z轴上运行的误差最大值分别为0.12 mm、-38.64 mm和-11.13 mm。在所构建算法的运行下,机械臂在空间内运动所产生的误差均在合适的范围内。以上结果均说明所提出驱动控制器的性能较好,能够提高机械臂的运动稳定性,并有效减小误差。With the development of drone exploration technology,the role of drone robotic arms in executing tasks has become particularly important.In order to maximize the rotation of the optimized robotic arm joints and improve the motion accuracy of the robotic arm,a shape memory alloy based optimization method for the rotation of unmanned aerial vehicle robotic arm joints is proposed.In the study,kinematic analysis was conducted on the robotic arm of a three degree of freedom unmanned aerial vehicle,and the performance of the SMA driver was simulated and verified through experiments,ensuring the reliability of the design.The results show that the mean absolute error value of the proposed algorithm is small and approaches approaches 0.The application effect shows that the maximum error of the robotic arm running on the x-axis and the y-axis is 0.12 mm,-38.64 mm and-11.13 mm,respectively.Under the operation of the constructed algorithm,the errors generated by the motion of the robotic arm in space are all within an appropriate range.The above results all indicate that the proposed drive controller has good performance,can improve the motion stability of the robotic arm,and effectively reduce errors.

关 键 词：形状记忆合金 机械臂 优化设计 驱动 关节 

分 类 号：TH39[机械工程—机械制造及自动化]