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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。
In view of the complex structure of the motor drive system, the bulky hydraulic drive system and the difficulty in controlling the pneumatic drive system in the traditional drive system, a new compound drive system is proposed. The system consists of a miniature diskless brushless DC motor and a temperature-controlled memory Alloy spring drive, the composite drive system for multi-finger dexterous hand-finger drive, simplify the overall structure of dexterous hand, and optimize the control. The relationship between restoring force and working stroke of memory alloy spring was explored. Factors affecting the contact force of finger knuckle were analyzed when the relationship between knuckle and body was changed and the contact force of finger knuckle was grasped. The sliding mode PID intelligent control strategy was used to control the movement of finger, The control efficiency is improved. The simulation of multi-finger dexterous hand model to verify the motion is reasonable and feasible, which provides the basis for further research on the compound driving system.