摘要
针对传统驱动方式中电机驱动系统的结构复杂、液压驱动系统的体积庞大、气压驱动系统的控制困难等问题,提出一种新型复合驱动系统,该系统由微型盘式无刷直流电机和温控记忆合金弹簧驱动,将复合驱动系统用于仿人多指灵巧手手指的驱动,简化灵巧手的整体结构,优化控制方式。探究记忆合金弹簧的回复力与工作行程的关系,分析指节间位姿变换关系和抓取物体时影响指节接触力大小的因素,利用滑模PID智能控制策略控制手指的运动,使灵巧手的控制效率得到提高。对多指灵巧手模型仿真,验证运动的合理可行,为复合驱动系统的进一步研究提供了基础。
Aiming at the problems which perform in the traditional driving mode,for example,the complex structure of motor drive system,the large volume of hydraulic drive system,the difficult control of air pressure drive system,a composite driving system actuated by micro- motor and shape memory alloy（ SMA） spring is proposed,then this system is applied to a humanoid multi- finger dexterous hand,the overall structure of the dexterous hand is simplified,and the control strategy gets optimized. The relation of the restoring force and displacement of the SMA spring is researched,then the relationships among knuckles movement and the influence factor on the contact force of grasping object are analyzed,by using the sliding mode PID intelligent control strategy,the movement of the finger is controlled,the control efficiency of dexterous hand is improved. Through the simulation of the dexterous hand model,the rationality and feasibility of the movement is verified,the basis for further study of composite driving system is provided.
出处
《机械传动》
CSCD
北大核心
2017年第3期15-20,共6页
Journal of Mechanical Transmission
基金
国家自然科学基金(51375519)
重庆市研究生科研创新基金(CYS15181)
重庆市研究生科研创新基金(CYS16190)
关键词
复合驱动
记忆合金
灵巧手
仿真
Composite drive
Shape memory alloy
Dexterous hand
Simulation
