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为了在机械手控制中替代电机和齿轮传动系统,设计了一种由形状记忆合金(SMA)差动弹簧驱动的机械手及其比例积分(PI)控制系统。SMA机械手由SMA驱动器驱动6杆机构实现2个手指抓取和释放动作。该6杆机构由原动件和2个II级杆组组成,采用机构学中杆组运动学分析方法构建了机械手运动特性分析模型。结合机械手实验结果和所建立的运动分析模型,分析了机械手的运动特性。结果表明:采用PI控制器控制,能够实现SMA驱动的机械手指的稳定运动。
In order to replace the motor and gear drive system in manipulator control, a manipulator driven by shape memory alloy (SMA) differential spring and its proportional integral (PI) control system are designed. SMA Manipulator Driven by SMA Driver 6-bar mechanism for 2 finger grasping and releasing actions. The 6-bar mechanism consists of a prime mover and 2 II-bar groups, and a kinematic analysis model of the manipulator is constructed by the kinematics analysis method of the rod group in mechanism study. Combined with the experimental results of robot and the established motion analysis model, the motion characteristics of robot are analyzed. The results show that the stable motion of SMA driven mechanical finger can be realized by PI controller.