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)

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。

DESIGN AND MOTION ANALYSIS OF THE HUMANOID FINGER DRIVEN BY TWISTED AND COILED POLYMER ARTIFICIAL MUSCLES$^{1)}$

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.