SMA (shape memory alloy) driven two-degree freedom human eye simulation mechanism

Abstract

The invention discloses an SMA (shape memory alloy) driven two-degree freedom human eye simulation mechanism. The SMA driven two-degree freedom human eye simulation mechanism mainly comprises two left-and-right driving mechanisms, an upper-and-lower driving mechanism and two middle connecting pieces, wherein simulated human eyeballs are installed on the middle connecting pieces, the left-and-rightdriving mechanisms drive the corresponding middle connecting pieces to rotate leftwards and rightwards respectively, and the upper-and-lower driving mechanism drives the two middle connecting piecesto rotate up and down simultaneously. The two left-and-right driving mechanisms and the upper-and-lower driving mechanism adopt three pairs of SMA driving springs for driving, SMAs are high in power density ratio, low in driving voltage, small in volume and low in noise, and the requirements of reducing the volume and simulating the head of human can be satisfied under the situation that driving force / torque is met. Through transmission of transmission devices in two directions, up-and-down and left-and-right movement of the eyeballs can be realized, and two-degree freedom motion is completed. The SMA driven two-degree freedom human eye simulation mechanism can be applied to occasions and scenes of man-machine interaction such as facial expression robots, human head simulation robots andservice robots.

Description

technical field [0001] The invention relates to a bionic mechanism, in particular to an SMA-driven 2-degree-of-freedom human eye mechanism. Background technique [0002] Shape memory alloys (shape memory alloys, SMA) are materials composed of two or more metal elements that have a shape memory effect (shape memory effect, SME) through thermoelasticity and martensitic phase transformation and their inversion. Shape memory alloy is currently the material with the best shape memory performance among shape memory materials. So far, more than 50 kinds of alloys with shape memory effect have been found. Shape memory alloys are widely used in many fields such as aerospace, mechatronics, biomedicine, bridge construction, automobile industry and daily life due to their many excellent properties. [0003] At present, humanoid service robots have become a hot spot in the field of robot research. This type of robot can clean, receive guests, take care of the elderly and children, and ...

AI Technical Summary

Problems solved by technology

The current humanoid eye mechanisms are mostly driven by motors, which have problems such as complex and cumbersome structures, poor movement flexibility, low movement precision, high frictional resistance of the mechanism movement, and large noise. high

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