形状记忆合金驱动的软体仿生手掌

与刚性部件控制的机械手臂或者手指相比，以记忆合金丝作为驱动器的驱动部件，避免了结构复杂的刚性部件以及复杂的运动反馈控制系统，其输出力—重量比高，驱动方式简便，引起各界的关注。本文以形状记忆合金为基础，设计试验了一种形状记忆合金丝驱动的软体仿生手掌。阐述了驱动记忆合金的原理、手掌的制作原理，建立了软体仿生手掌的运动学模型，采用matlab进行了运动学仿真验证分析，通过物理试验证明记忆合金驱动的软体仿生手掌可以达到手指弯曲及实际物体抓取的效果。

Shape memory alloy actuated soft bionic hand

Compared with the mechanical arm or finger controlled by rigid parts, the drive element employs the memory alloy wire as its actuator, which avoids the rigid parts with complex structure and the complex motion feedback control system. The output force-weight ratio of this drive element is high, and its driving method is simple, which has attracted the attention of various communities. Based on the shape memory alloy, a soft bionic palm driven by shape memory alloy wire was designed and tested in this paper. The actuating principle of the memory alloy and the production principle of the palm were expounded. The kinematic model of the soft bionic palm was established, and the kinematic simulation analysis and verification were carried out by matlab. It is proved by the physical experiment that the soft bionic palm driven by memory alloy can achieve the effect of finger bending and actual object grasping.