由形状记忆合金驱动的多姿势抓取操纵器,具有不同的功能模块
1Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen 518055, China.
Micromachines
|November 27, 2024
概括
本研究介绍了一种新的多姿势机器人操纵器,使用形状记忆合金模块进行多功能抓取. 紧的设计为未来的智能机器人操纵器提供了一个有希望的解决方案.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 材料科学 材料科学 材料科学
- 机械工程 机械工程
背景情况:
- 当前的多姿势机器人操纵器面临着低功率密度的挑战,阻碍了小型化和集成.
- 现有的设计往往缺乏复杂的抓取任务所需的灵敏度.
研究的目的:
- 介绍一款由形状记忆合金 (SMA) 驱动的新型多姿势抓取操纵器.
- 为了展示一个模块化设计,使曲,翻译,旋转和抓取功能.
- 为了验证操纵者在掌握任务方面的有效性.
主要方法:
- 使用形状记忆合金执行器和功能模块设计了一个多姿势抓取操纵器.
- 用德纳维特-哈顿伯格 (D-H) 参数方法来建立终端效应器运动轨迹模型.
- 分析和可视化了终端效应器的运动空间.
- 进行了一项涉及轻型圆形物体的捕捉实验.
主要成果:
- 开发的操纵器成功地展示了多姿势抓取能力.
- 模块化设计有效地集成了偏向,转移,旋转和抓取功能.
- D-H参数建模准确地预测了终端效应器的运动轨迹.
- 实验证实了操纵器对掌握任务的有效性.
结论:
- 形状记忆合金驱动的多模块操纵器为先进的机器人抓取提供了可行的解决方案.
- 紧和集成的设计解决了当前机器人操纵器的局限性.
- 这一发展为智能机器人操纵器的进步提供了新的选择.
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