Controller Design on the Fingerspelling Robot Hand using Shape Memory Alloy
Controller Design on the Fingerspelling Robot Hand using Shape Memory Alloy
复制标题
形状记忆合金手指拼写机械手控制器设计
DOI：
10.1109/sice.2006.315168
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
M. Fujita
中科院分区：
文献类型：
--
作者：
M. Terauchi;K. Zenba;A. Shimada;M. Fujita
本文介绍了机器人手指的机械结构和控制技术。手指已被开发为机器人手的元素，它有20个关节和16个自由度，以表达fingerspelling。关节由小型直流伺服电机和形状记忆合金（SMA）驱动。手控系统将由“手控机构”、“驱动装置”、“控制单元”和“人机界面”四部分组成。作为研究的第一步，本文重点介绍了形状记忆合金驱动手指第二轴的控制技术。基本上，手指可以通过一对SMA线弯曲和伸直。此外，为了实现这些平稳的运动，控制系统的设计基于系统辨识的实验结果。最后，我们报告了仿真和实验控制结果
This paper introduces the mechanical structure and control technique of the robot fingers. The fingers has been developed as elements of the robot hand which has 20 joints and 16 degrees of freedom in order to express fingerspelling. The joints are driven by the small DC servomotors and the shape memory alloys (SMA). The hand system will consist of four parts of "hand mechanism", "drive device", "control unit" and "man machine interface". As the first step of the research, this paper introduces especially about the control technique related to the second axes of the fingers driven by SMA. Basically, the finger can be bended and unbend by a pair of SMA wires. Furthermore, to realize those smooth motions, the control system is designed based on an experimental result of system identification. Finally, we report the simulation and experimental control results