SMA驱动的模块化仿人手指设计与研究

doi:10.12068/j.issn.1005-3026.2017.08.016

东北大学学报:自然科学版 ›› 2017, Vol. 38 ›› Issue (8): 1137-1141.DOI: 10.12068/j.issn.1005-3026.2017.08.016

SMA驱动的模块化仿人手指设计与研究

郝丽娜，郭少飞，陈洋

(东北大学机械工程与自动化学院，辽宁沈阳110819)

收稿日期:2016-03-24 修回日期:2016-03-24 出版日期:2017-08-15 发布日期:2017-08-12
通讯作者: 郝丽娜
作者简介:郝丽娜(1968-)，女，辽宁庄河人，东北大学教授，博士生导师.
基金资助:
国家高技术研究发展计划项目(2015AA042302).

Research and Design on Modular Humanoid Finger with SMA Actuator

HAO Li-na， GUO Shao-fei， CHEN Yang

School of Mechanical Engineering & Automation， Northeastern University， Shenyang 110819， China.

Received:2016-03-24 Revised:2016-03-24 Online:2017-08-15 Published:2017-08-12
Contact: HAO Li-na
About author:-
Supported by:
-

摘要/Abstract

摘要： 采用模块化的欠驱动手指结构设计，形状记忆合金丝作为驱动器，永磁铁装置提供预拉紧和复位功能，使得SMA驱动器的输出力比弹簧预紧提高了6N以上.通过驱动位移放大滑轮，使SMA驱动器的输出位移增大了2.1倍.最后，通过3D打印技术打印手指模型并组装了单根手指，实现了对日常用品的抓取操作.本研究有效解决了SMA驱动器驱动位移小、预拉伸和输出力相矛盾的问题，为形状记忆合金材料作为仿生驱动装置的应用提供了设计思路.

关键词: SMA驱动器, 预拉伸, 永磁铁, 位移放大, 欠驱动

Abstract: Modularized underactuated mechanical fingers are designed.For the actuator， SMA(shape memory alloy) wires are adopted， and permanent magnet devices are also used as the source of pre-stretching and restoring forces. This novel design increases the SMA output force for over 6N more than the conventional SMA actuators， in which bias springs are adopted as the pre-stretching elements. A pulley system is also developed for amplifying the displacement output capacity of the actuator by 2.1 times. The mechanical fingers are fabricated by 3D printing technology， and general grasping experiments are carried out with daily commodities. This paper proposes the method for resolving the conflicts among the displacement output capacity， the pre-stretching force and the output force. The achievements will facilitate the further application of the SMA materials in biomimetic actuating fields.

Key words: SMA actuator, pre-stretch, permanent magnets, displacement amplification, underactuated

中图分类号:

TP241.3

郝丽娜，郭少飞，陈洋. SMA驱动的模块化仿人手指设计与研究[J]. 东北大学学报:自然科学版, 2017, 38(8): 1137-1141.

HAO Li-na， GUO Shao-fei， CHEN Yang. Research and Design on Modular Humanoid Finger with SMA Actuator[J]. Journal of Northeastern University Natural Science, 2017, 38(8): 1137-1141.

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SMA驱动的模块化仿人手指设计与研究

Research and Design on Modular Humanoid Finger with SMA Actuator

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