A flexible manipulator based on shape memory alloy

Abstract

The invention relates to a flexible mechanical hand based on shape memory alloys, and belongs to the technical field of flexible mechanical equipment. The flexible mechanical hand based on the shape memory alloys is provided with five fingers, and comprises finger fixing seats, power water pumps, and the like, and the strip-shaped shape memory alloys are adopted as driving devices and are embeddedin the humanoid fingers; strip-shaped PZT flexible sensors are embedded in the humanoid fingers; root parts of the fingers are fixed through the fixing seats and are connected with a plastic palm; distribution of the five fingers is similar to that of human fingers; water with different temperatures is introduced into pipelines in the fingers; and grabbing and release are achieved by adjusting the bending degree of the fingers. According to the flexible mechanical hand, power of the flexible mechanical hand is greatly improved through the shape memory alloy strips, response time of the flexible mechanical hand is shortened through water heating, and the flexible mechanical hand can be widely applied to the fields of man-machine collaboration, household service robots, fragile object grabbing, and the like.

Description

technical field [0001] The invention relates to a flexible manipulator based on a shape memory alloy, which belongs to the technical field of flexible mechanical equipment. Background technique [0002] The kinematic joints of traditional rigid manipulators have limited degrees of freedom, which can achieve high-precision motion control. They generally need to be used in good environmental conditions and require the assistance of tactile or force sensors to prevent damage to the grasped object or itself. [0003] In recent years, soft robots have been paid more and more attention due to their high flexibility and safety for operators. Soft robotics has great potential to be applied in the field of domestic service robots because they are physically safe, even in unknown environments, without harming the operator. [0004] Shape memory alloy (Shape Memory Alloy) actuators have been widely explored and used in various fields, including robotics. Many scientists have tried u...

AI Technical Summary

Problems solved by technology

[0008] In summary, almost all shape memory alloy actuators use shape memory alloy wire, which results in limited maximum strain and output force

Although there are existing mechanical fingers that can provide high output force, it requires an input power of up to 300W, which is far beyond the acceptable range for practical use.

The solution of using other methods to realize the flexibility of the manipulator also has other obvious disadvantages

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