摘要
针对软体机器人由于刚度太低且是连续变形,故很难进行运动控制的问题,提出一种由形状记忆合金弹簧驱动的柔性机械臂。机械臂由3D打印制造而成,内部嵌入3个线性霍尔传感器,用于测量柔性臂弯曲运动。通过压缩补偿计算可以精确控制弯曲运动。实验结果表明,该柔性机械臂可以以较高精度进行三维运动。
In view of the fact that their body stiffness of soft robots is too low and the deformation is continuous, which makes it difficult to control their movement, the design and implementation of a soft robotic arm driven by shape memory alloy(SMA) coils was proposed. The arm is made by 3 d printer, and there are three linear Hall sensors in certain slots on the body wall to measure their changes in height as the arm bends.With a compress compensation algorithm, a PID controller was used to precisely control the bending movement. This soft robotic arm can follow a three-dimensional motion with a relatively high accuracy.
作者
程刚
许旻
邹大力
杨浩
CHENG Gang;XU Min;ZOU Dali;YANG Hao(Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications,Beijing Institute of Spacecraft System Engineering,Beijing 100094,China)
出处
《机械与电子》
2020年第1期70-75,共6页
Machinery & Electronics
基金
国家自然科学基金(61375095)
