Soft mechanical arm based on SMA springs

Abstract

The invention discloses a soft mechanical arm based on SMA springs. The soft mechanical arm comprises a platform. Multiple mechanical arm fingers are arranged below the platform. Each mechanical arm finger comprises a silica gel outer shell. Each silica gel outer shell is internally provided with a soft sensor and the corresponding two SMA springs. Every two SMA springs are arranged in the corresponding silica gel outer shell at the set angle from top to bottom. The top end of each SMA spring is provided with a lead wire. The SMA springs are connected with a control circuits through the lead wires. The extending-and-contracting state of the SMA springs is controlled through the control circuit, and thus, work of the mechanical arm fingers is achieved. The control circuit comprises a singlechip microcomputer, a PWM electronic switch control panel and a voltage-controlled current source, wherein the single chip microcomputer is provided with multiple analog input ports. The STM32 singlechip microcomputer is used for achieving a PWM control constant flow source circuit and outputting the specific frequency and PWM waveforms of specific duty ratios. The PWM electronic switch controlpanel is used for converting PWM signals into the voltage. The voltage-controlled current source controls the current to change through voltage changes. By means of the soft mechanical arm, gripping control of the soft mechanical arm can be achieved.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and in particular relates to a soft manipulator based on SMA springs. Background technique [0002] Traditional robots are mostly made of rigid materials with limited elastic deformation capabilities, and their shape adapts to specific external constraints and obstacles, featuring high precision. The use of these rigid robots tends to be specialized and precise, and it is difficult for them to exhibit high deformability and adaptability to different situations. As the field of robot application continues to expand, special fields such as medical care and complex terrain exploration have put forward more stringent requirements for robots, and special robots that can adapt to unstructured environments have become a hot research direction in the scientific community. Researchers have developed soft robots by imitating molluscs in nature. Soft robots use less or no traditional rigid materials,...

AI Technical Summary

Problems solved by technology

The two-way memory effect has high benefits and is suitable for reciprocating mechanisms, but its manufacturing process is difficult and complicated, and its service life is short. Therefore, SMA components with one-way shape memory effect are more common in practical applications.

Images