[1]张林飞,许 旻,杨 浩,等.基于形状记忆合金驱动的柔性机械臂研究[J].机械与电子,2017,(06):72-76.
　ZHANG Linfei,XU Min,YANG Hao,et al.Research on Flexible Manipulator Driven by Shape Memory Alloy[J].Machinery & Electronics,2017,(06):72-76.
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基于形状记忆合金驱动的柔性机械臂研究
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2017年06期
页码:
72-76
栏目:
智能工程
出版日期:
2017-06-24

文章信息/Info

Title:
Research on Flexible Manipulator Driven by Shape Memory Alloy
文章编号:
1001-2257(2017)06-0072-05
作者:
张林飞; 许 旻; 杨 浩; 金 虎
(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)
Author(s):
ZHANG Linfei;  XU Min;  YANG Hao;  JIU Hu
(Department of Precision Mechanics and Instrument,School of Engineering Science, University of Science and Technology of China, Hefei 230026,China)
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
Keywords:
soft manipulator;  shape memory alloy spring;  resistance feedback;  soft robot
分类号:
TP242
文献标志码:
A
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。
Abstract:
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 manipulator was assembled with the flexible drive module. Based on the change characteristics of SMA resistance, a self-feedback control system was established, and the deformation of the flexible actuator was analysed. Furthermore, a multi-model motion control system of the flexible manipulator was built to grasp objects by curling its arm. The results prove the flexibility of the flexible manipulator in spatial motion.

参考文献/References:

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相似文献/References:

[1]王 航１,王 帅２.基于FWA的柔性机械臂振动抑制轨迹规划[J].机械与电子,2019,(04):17.
　.Vibration Suppression Trajectory Planning for Flexible Manipulator Based on FWA[J].Machinery & Electronics,2019,(06):17.

备注/Memo

备注/Memo:
收稿日期:2017-03-14
基金项目:国家自然科学基金(61375095)
作者简介:张林飞(1992-),男,河南周口人,硕士,研究方向为仿生机器人; 许 旻(1972-),男,福建晋江人,硕士,讲师,研究方向为机器人机构学与仿生机器人; 杨 浩(1983-),男,安徽六安人,硕士,研究方向为仿生机器人; 金 虎(1991-),男,安徽凤阳人,博士,研究方向为仿生机器人。
更新日期/Last Update: 2017-06-25