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Assemblied anthropomorphic manipulator based on imbedded shape memory alloy electric machine

A memory alloy, embedded technology, used in manipulators, manufacturing tools, chucks, etc., can solve problems such as limited clamping capacity, and achieve the effects of low manufacturing cost, light weight and flexible control.

Inactive Publication Date: 2006-09-13
HUAZHONG UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

Therefore, limited by the driving mode, the above-mentioned SMAA-driven manipulators are all clamping type, which can only realize simple actions, have high requirements on the shape and size of the clamped object, and have limited clamping capacity
For the bionic multi-degree-of-freedom precision flexible space motion of the anthropomorphic manipulator, the above-mentioned SMAA seems powerless

Method used

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  • Assemblied anthropomorphic manipulator based on imbedded shape memory alloy electric machine
  • Assemblied anthropomorphic manipulator based on imbedded shape memory alloy electric machine
  • Assemblied anthropomorphic manipulator based on imbedded shape memory alloy electric machine

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Embodiment Construction

[0012] Below in conjunction with accompanying drawing and example the present invention is described in further detail.

[0013] Such as figure 1 and figure 2 As shown, the embedded shape memory alloy motor (ESMAA) includes: a silicone rubber cylinder 1, a "U" shape memory shape memory alloy (SMA) wire 2, a linear shape memory SMA wire 3, and symmetrically distributed curvature sensors 4 and 5 . The embedding position of the "U" shape memory SMA wire 2 coincides with the central axis of the silicone rubber cylinder 1, the linear memory SMA wire 3 is embedded eccentrically parallel to the central axis of the silicone rubber cylinder 1, and the curvature sensors 4 and 5 are symmetrically distributed along the bending direction. The middle surface of the silicone rubber cylinder 1 . The "U" shape memory SMA wire 2 has a recovery function, and the straight memory SMA wire 3 has a recovery function, so that this ESMAA has a plane bending function.

[0014] Such as image 3 ,...

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Abstract

A combined anthropomorphic manipulator based on embedded marmem motor is composed of a palm consisting of front palm and back, three fingers consisting of the drive segment and the driven segment, which are made of marmem (or shape memory alloy-SMA) motor, and a controller. Said ESMAA comprises U-shaped or straight-line SMA wire embedded in the silicon rubber cylinder and curvature sensor.

Description

technical field [0001] The invention belongs to the technical field of mechanical engineering robots. Specifically, it relates to a combined anthropomorphic manipulator based on an embedded shape memory alloy motor. Prosthetics, small-load industrial robots, household robots and walking robots have potentially wide applications and attractive technical development prospects. Background technique [0002] As the input source of force and displacement, the driver directly determines the structure type, positioning accuracy, motion compliance and control mode of the manipulator, and it is the key to the manipulator. Traditional manipulator drivers are mainly electromagnetic motors, which have the advantages of small size and no leakage, and are the most widely used. However, there are deficiencies, which are manifested in: the low output force-to-weight ratio of the motor leads to bulky size, which cannot meet the practical requirements of micro-miniature systems; the transmis...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/08
Inventor 杨凯辜承林张德林
Owner HUAZHONG UNIV OF SCI & TECH
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