Mechanism Theory and Motion Control of Humanoid Wrist Actuated by Shape Memory Alloy
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摘要: 为提高仿人腕关节的运动性能，设计了一款形状记忆合金驱动的仿人腕关节样机，采用拮抗驱动方式实现对仿人腕关节的位置控制，并在相关理论和仿真分析的基础上，通过实验证明该系统模型具有一定的精度。通过样机运动控制实验，研究了拮抗驱动方式对系统运动性能的影响。结果表明，在拮抗驱动方式的不同频率信号跟踪实验中，对于单向正弦信号，跟踪误差最小为[−0.5°, 1°]，最大为[−1.5°, 1.5°]；对于双向正弦信号，腕关节能实现双向连续偏转，且当信号频率为1/15 Hz时，位置误差均小于[−1.5°, 1.5°]。相比于采用单根形状记忆合金丝驱动，拮抗驱动方式有利于提升位置控制精度和双向偏转能力。Abstract: Aiming at the improvement of the motion performance of the humanoid wrist, a prototype of the humanoid wrist actuated by shape memory alloy (SMA) is designed, and the position control of the wrist joint was realized by using the antagonistic driving. Based on the relevant theoretical and simulation analysis, the precision of the system model was proved by using the experiments. The effect of the antagonistic driving method on the motion performance of the system was studied by using the experiments of the motion control on the prototype. The results show that the minimum tracking error is [−0.5°, 1°] and the maximum is [−1.5°, 1.5°] for the one-way sinusoidal signals in different frequency tracking experiment with antagonistic driving method. For the sinusoidal signals, the wrist can move continuously in both directions and all of the position errors are less than [−1.5°, 1.5°] when the signal frequency is 1/15 Hz. Comparing with the single-SMA-wire drive method, the antagonistic method is beneficial to improve the position control accuracy and bidirectional deflection ability.
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Key words:
- humanoid wrist /
- shape memory alloy (SMA) /
- antagonistic driving /
- position control
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表 2 实验装置相关参数
参数 数值 参数 数值 EMartensite/MPa 600 EAustenite/MPa 1073 Tamb/℃ 20 Cpressure/[J·（kg·℃）−1] 320 mwire/（kg·m−1） 1.12×10−4 h1 20 h2 0.001 Afinish/℃ 68 Astart/℃ 46 Mfinish/℃ 40 Mstart/℃ 60 CAustenite/（MPa·℃−1） 10 CMartensite/（MPa·℃−1） 10 l0/mm 500 k/（N·mm−1） 0.13 α/（°） 23 β/（°） 73.6 m/g 55 llink/mm 40 l1/mm 17.8 l2/mm 43.5 h/mm 35 J/（kg·mm−2） 29.33 
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