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Flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and flexible mechanical arm thereof

A flexible robotic arm and memory alloy wire technology, applied in the field of robotics, can solve problems such as difficult stretching and twisting, and achieve the effect of increasing flexibility and simple structure

Active Publication Date: 2013-03-13
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Compared with several other driving methods, the performance of SMA materials is closer to that of muscles, but the existing SMA-driven mechanical arms are difficult to achieve the functions of stretching and torsion, and there is still a big gap between the movement of biological prototypes

Method used

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  • Flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and flexible mechanical arm thereof
  • Flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and flexible mechanical arm thereof
  • Flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and flexible mechanical arm thereof

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Embodiment Construction

[0025] The specific technical solution of the shape memory alloy wire-driven flexible mechanical arm mechanism of the present invention will be described below in conjunction with the accompanying drawings.

[0026] Such as figure 1 , 2 As shown, the flexible mechanical arm mechanism of the present invention is composed of an inner mandrel 1 , an outer flexible sleeve 2 and a wire bundle 3 . A flexible mechanical arm mechanism driven by a shape memory alloy wire according to the present invention is characterized in that: the bionic flexible mechanical arm mechanism includes an inner mandrel and an outer flexible sleeve; wherein the inner mandrel includes N inner spacers , 3 SMA wires, a base, a top fixing piece and N+1 inner silicone tubes, the inner silicone tube and the inner spacer are arranged at intervals, and the SMA wire passes through the inner spacer and the top fixing piece and is embedded in the inner silicone tube; The outer flexible sleeve includes M outer spac...

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Abstract

The invention provides a flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and a flexible mechanical arm thereof, and the mechanism and the mechanical arm belong to the technical field of robots. The flexible mechanical arm mechanism comprises an inner layered mandril (1), an outer layered flexible sleeve (2) and a lead bundle (3) which is used for electrically heating the SMA wires, wherein the inner layered mandril (1) comprises a base (105), a top end fixing piece (103), N inner spacers (101), N+1 inner silicone tubes (102) and three SMA wires; the outer layered flexible sleeve (2) comprises a bottom end connecting seat (206), a top end connecting seat (203), M outer spacers (201), M+1 outer silicone tubes (204) and six SMA wires; the inner layered mandril and the outer layered flexible sleeve are connected through a bearing; and the flexible bending movement and the contraction movement of the inner layered mandril are transmitted onto the outer layered flexible sleeve through the bearing.

Description

technical field [0001] The invention relates to a flexible mechanical arm mechanism driven by a shape memory alloy wire, which belongs to the technical field of robots. Background technique [0002] With the rapid development of aerospace and deep-sea exploration, there is an increasing demand for robotic arms that can assist or replace humans in extreme environments. Due to its advantages of light weight, good flexibility, and wide range of motion, flexible robotic arms have gradually become one of the hotspots in the research of robotic arms. [0003] In future space activities, aerospace robotic arms will gradually replace astronauts to complete various space operations. In the field of deep-sea development, because the high-pressure and complex environment of the seabed is not suitable for human work, suitable robotic arms are needed to replace people in seabed detection, sea salvage, underwater investigation, and risk elimination. Therefore, in order to meet the above...

Claims

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Application Information

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IPC IPC(8): B25J18/04
Inventor 王扬威赵东标陈柏刘凯陆永华
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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