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首页> 外文期刊>IEEE Transactions on Industrial Electronics >Design and Implementation of a Soft Robotic Arm Driven by SMA Coils
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Design and Implementation of a Soft Robotic Arm Driven by SMA Coils

机译：SMA线圈驱动的软机器人臂的设计与实现

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摘要

Soft robots may potentially be used for human services and complex environmental locomotion. The bodies of the soft robots are made from soft materials to make them safe for human interactions and to enable them to deform enough to adapt to soft or rough terrains. However, their practical applications are limited because their body stiffness is too low and the deformation is continuous, which make it difficult to control their movements. In this paper, the design and implementation of a soft robotic arm driven by shape memory alloy (SMA) coils are reported. The arm is made from soft silicone, and there are three linear Hall sensors in certain slots on the body wall to measure the changes in height as the arm bends. With a compression compensation algorithm, a proportional-integral differential controller is used to precisely control the bending movement. This soft robotic arm can follow a two-dimensional motion with a relatively high accuracy; indeed, it displays quite a remarkable performance considering its low cost, simple structure, easy control, and small bending error. Since this soft arm can be used as the basic driving unit of a soft robot capable of manipulating and locomoting, it has shed light on the applications of SMA soft robots.
机译：软机器人可能适用于人类服务和复杂的环境运动。软机器人的尸体由柔软的材料制成，使它们能够为人类相互作用安全，使它们能够变形，以适应柔软或粗糙的地形。然而，它们的实际应用是有限的，因为它们的身体刚度太低并且变形是连续的，这使得难以控制它们的运动。本文报道，报道了由形状记忆合金（SMA）线圈驱动的软机械臂的设计和实现。臂由软硅树脂制成，并且在体壁上的某些插槽中有三个线性霍尔传感器，以测量随着臂弯曲的高度变化。利用压缩补偿算法，使用比例整体差分控制器来精确地控制弯曲运动。这种软机器人臂可以遵循具有相对高精度的二维运动;实际上，考虑到其低成本，结构简单，控制和小弯曲误差，它表现出相当显着的性能。由于这种软臂可以用作能够操纵和机动的软机器人的基本驱动单元，因此它在SMA软机器人的应用上阐明了闪光。

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  • 来源
    《IEEE Transactions on Industrial Electronics》 |2019年第8期|6108-6116|共9页
  • 作者

    Yang Hao; Xu Min; Li Weihua; Zhang Shiwu;

  • 作者单位

    Univ Sci & Technol China Dept Precis Machinery & Precis Instrumentat Hefei 230026 Anhui Peoples R China;

    Univ Sci & Technol China Dept Precis Machinery & Precis Instrumentat Hefei 230026 Anhui Peoples R China;

    Univ Wollongong Dept Mat & Mechatron Engn Wollongong NSW 2522 Australia;

    Univ Sci & Technol China Dept Precis Machinery & Precis Instrumentat Hefei 230026 Anhui Peoples R China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Deformation control; shape memory alloy (SMA); soft arm;

    机译：变形控制;形状记忆合金（SMA）;柔软的臂;

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