| 基于螺旋卷绕型人工肌肉驱动的机械手指设计及其运动分析1) |
| |
| 引用本文： | 甘辩, 李骞, 李梦天, 余河清, 刘磊, 刘大彪. 基于螺旋卷绕型人工肌肉驱动的机械手指设计及其运动分析1)[J]. 力学与实践, 2021, 43(6): 842-848. doi: 10.6052/1000-0879-21-193 |
| |
| 作者姓名： | 甘辩 李骞 李梦天 余河清 刘磊 刘大彪 |
| |
| 作者单位： | *华中科技大学航空航天学院,武汉 430074; †工程结构分析与安全评定湖北省重点实验室,武汉 430074 |
| |
| 摘 要： | 螺旋卷绕型聚合物人工肌肉作为一种新型致动器,因具有较高的柔韧性、通用性和功率密度,在柔性驱动领域具有广阔的应用前景。本文设计了一种螺旋卷绕型人工肌肉驱动的多自由度机械手指模型,建立了热驱动型人工肌肉的物理模型,实现了对机械手指多关节偏转的控制和运动分析。结果表明,人工肌肉的收缩量随温度的增加呈非线性增加;机械手指的关节偏转角随温度或肌肉收缩量的增大而增大。提出的人工肌肉驱动的多自由度手指模型,为实现其在机械手领域中的应用奠定了基础。
|
| 关 键 词： | 机械手指 人工肌肉 自由度 致动特性 |
| 收稿时间： | 2021-05-13 |
| 修稿时间： | 2021-07-01 |
DESIGN AND MOTION ANALYSIS OF THE HUMANOID FINGER DRIVEN BY TWISTED AND COILED POLYMER ARTIFICIAL MUSCLES$^{1)}$ |
| |
| GAN Bian, LI Qian, LI Mengtian, YU Heqing, LIU Lei, LIU Dabiao. DESIGN AND MOTION ANALYSIS OF THE HUMANOID FINGER DRIVEN BY TWISTED AND COILED POLYMER ARTIFICIAL MUSCLES$^{1)}$[J]. Mechanics in Engineering, 2021, 43(6): 842-848. doi: 10.6052/1000-0879-21-193 |
| |
| Authors: | GAN Bian LI Qian LI Mengtian YU Heqing LIU Lei LIU Dabiao |
| |
| Affiliation: | *School of Aerospace Engineering, Huazhong University of Science and Technology, Wuhan 430074, China; †Hubei Key Laboratory of Engineering Structural Analysis and Safety Assessment, Wuhan 430074, China |
| |
| Abstract: | As a new kind of actuator, the twisted and coiled polymer (TCP) artificial muscle has a broad application prospect in the field of flexible actuation due to its good flexibility, versatility and high efficiency. In this paper, a model of multi-degree-of-freedom humanoid finger driven by TCP artificial muscle is proposed. The physical model of heat-driven artificial muscle is also established, which realizes the control and motion analysis of the multi-joint deflection of the humanoid finger. The results show that the contraction of artificial muscle increases non-linearly with the increase of temperature. The joint deflection of the humanoid finger increases with the increase of temperature or muscle contraction. The proposed multi-freedom finger model lays a foundation for its application in the field of manipulator. |
| |
| Keywords: | humanoid finger artificial muscles degree of freedom actuation performance |
|
| 点击此处可从《力学与实践》浏览原始摘要信息 |
|
点击此处可从《力学与实践》下载全文 |
|
