A Novel Bionic Hand based on SMA Driven

Zhaoyang Huang

doi:10.16578/j.issn.1004.2539.2019.04.031

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A Novel Bionic Hand based on SMA Driven

Development·Application | 更新时间：2022-10-03

- A Novel Bionic Hand based on SMA Driven
- Journal of Mechanical Transmission Vol. 43, Issue 4, Pages: 165-168(2019)
- 作者机构：
  
  1.绍兴文理学院元培学院，浙江绍兴 312000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.04.031
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黄朝阳.一种SMA驱动的新型仿生手[J].机械传动,2019,43(04):165-168.

Huang Zhaoyang.A Novel Bionic Hand based on SMA Driven[J].Journal of Mechanical Transmission,2019,43(04):165-168.
黄朝阳.一种SMA驱动的新型仿生手[J].机械传动,2019,43(04):165-168. DOI： 10.16578/j.issn.1004.2539.2019.04.031.

Huang Zhaoyang.A Novel Bionic Hand based on SMA Driven[J].Journal of Mechanical Transmission,2019,43(04):165-168. DOI： 10.16578/j.issn.1004.2539.2019.04.031.

摘要

采用独立化设计方法，将仿生手分为控制模块、手指模块、散热模块并进行单独设计，制作了集成化的仿生手，可以快捷地实现模块化手指的分离与组装。采用形状记忆合金丝作为驱动器，设计了可以实现驱动位移放大的凸轮结构，使SMA在驱动过程中的有效输出位移得到有效放大。在Matlab中对仿生手进行了运动空间仿真，并通过3D打印制作了总质量为410 g的仿生手样机。采用温度反馈方式，提高了仿生手在不同温度环境中的响应能力以及对SMA的温度保护，对日常生活物品进行了抓取实验验证。结果表明，新型仿生手具有较大的抓取尺寸和抓取重量，具有拆装方便、控制简单、抓取稳定的优点，实现了控制与驱动的高度集成。

Abstract

By using independent design method， the control module， figure module and thermal module of bionic hand are designed separately， the integration bionic hand is fabricated and can realization separation and assemble quickly. By using the Shape memory alloy（SMA）wire as actuator， the cam structure of displacement amplifier is designed， which can increase the output displacement of SMA in the driving process. Using Matlab， the simulation of kinematics and motion space is conducted， the bionic hand prototype is fabricated through 3D printing， which is 410 g. The response capability of bionic hand in different temperature environment and temperature protection for SMA are improved by temperature feedback， and grasping manipulation test for everyday objects is verified. Results show the novel bionic hand possesses the ability of grasping larger and heavier objects， and convenient disassembly and assembly， simple control， and stable grasping， which realizes the design of high integration.

关键词

集成凸轮装置温度反馈抓取实验

Keywords

IntegrationCam deviceTemperature feedbackGrasping experiment

references

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Department of mechanical engineering，Shanxi Institute of Mechanical and Electrical Engineering

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