An Experimental Study on a SMA Driven Pressurized Hyper-redundant Manipulator
An Experimental Study on a SMA Driven Pressurized Hyper-redundant Manipulator
复制标题
SMA驱动加压超冗余机械臂的实验研究
DOI：
10.1177/1045389x07083185
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发表时间：
2008
影响因子：
2.7
通讯作者：
A. Jnifene
中科院分区：
文献类型：
--
作者：
E. Lanteigne;A. Jnifene
介绍了一种由高应变形状记忆合金(SMA)驱动器驱动的加压超冗余度机械臂的设计和制造。超冗余设备的特点是重复的独立控制的结构串联连接；它们的结构类似于蛇或蠕虫。所提出的设计由四个相同的模块组成；每个模块由三个对称放置的执行器提供三个自由度。机械手的刚度和执行机构的回力是由在机械手底部注入的加压空气控制的。在单个单元模块上的测试表明，在1/20赫兹的频率下，该设计可以实现50°以上的旋转和40%以上的位移。
This study describes the design and fabrication of a pressurized hyper-redundant manipulator driven by high strain shape memory alloy (SMA) actuators. Hyper-redundant devices are characterized by repeating independently controlled structures connected in series; their architecture is comparable to that of a snake or worm. The proposed design is composed of four identical modules; each providing three degrees of freedom from three symmetrically positioned actuators. The manipulator stiffness and actuator return-force are controlled by pressurized air, injected at the base of the manipulator. Tests on a single unit module have demonstrated that the design could achieve rotations of over 50° and displacements of over 40% at a frequency of 1/20 Hz.