本文關(guān)鍵詞： SMA驅(qū)動(dòng)器 預(yù)拉伸 永磁鐵 位移放大 欠驅(qū)動(dòng)　出處：《東北大學(xué)學(xué)報(bào)(自然科學(xué)版)》2017年08期 　論文類型：期刊論文

【摘要】：采用模塊化的欠驅(qū)動(dòng)手指結(jié)構(gòu)設(shè)計(jì),形狀記憶合金絲作為驅(qū)動(dòng)器,永磁鐵裝置提供預(yù)拉緊和復(fù)位功能,使得SMA驅(qū)動(dòng)器的輸出力比彈簧預(yù)緊提高了6 N以上.通過驅(qū)動(dòng)位移放大滑輪,使SMA驅(qū)動(dòng)器的輸出位移增大了2.1倍.最后,通過3D打印技術(shù)打印手指模型并組裝了單根手指,實(shí)現(xiàn)了對(duì)日常用品的抓取操作.本研究有效解決了SMA驅(qū)動(dòng)器驅(qū)動(dòng)位移小、預(yù)拉伸和輸出力相矛盾的問題,為形狀記憶合金材料作為仿生驅(qū)動(dòng)裝置的應(yīng)用提供了設(shè)計(jì)思路.
[Abstract]:Using modular underactuated finger structure design, shape memory alloy wire as driver, permanent magnet device to provide pretension and reset functions, The output force of the SMA driver is more than 6 N higher than that of the spring pre-tightening. The output displacement of the SMA driver is increased by 2.1 times by driving the displacement amplification pulley. Finally, the model of the finger is printed and the single finger is assembled by 3D printing technology. This study effectively solves the problems of low driving displacement of SMA driver, contradiction between pretension and output force, and provides a design idea for the application of shape memory alloy material as a bionic driving device.
【作者單位】： 東北大學(xué)機(jī)械工程與自動(dòng)化學(xué)院;
【基金】：國(guó)家高技術(shù)研究發(fā)展計(jì)劃項(xiàng)目(2015AA042302)
【分類號(hào)】：R318;TP391.73

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