摘 要

Abstract……………………………………………………………………………………Ⅱ

1.绪论………………………………………………………………………………………1

2.机械手的研究目的及意义………………………………………………………………1

3.国内外机械手的发展现状………………………………………………………………2

4.本论文研究的主要内容…………………………………………………………………4

5.形状记忆合金SMA………………………………………………………………………5

6.形状记忆合金的特性……………………………………………………………………5

7.SMA仿生机械手机构设计………………………………………………………………8

8.手臂肘关节的结构………………………………………………………………………8

9.肘关节的特征……………………………………………………………………………9

10.肱骨的结构设计………………………………………………………………………10

11.尺骨的结构设计………………………………………………………………………11

12.桡骨的结构设计………………………………………………………………………12

13.SMA机械肘关节装配方案……………………………………………………………13

14.机械肘关节裹覆策略…………………………………………………………………15

15.肘关节的内嵌式SMA动态控制………………………………………………………16

16.总结与展望……………………………………………………………………………18

17.致谢……………………………………………………………………………………19

18.参考文献………………………………………………………………………………20

摘 要

随着科技发展，机械手应用越来越广泛，世界各国均开展了相关研究。一种基于

温控型形状记忆合（SMA）金研制的内嵌式驱动器，输出位移大，输出力－重量比高，驱动与控制简便，获得了广泛关注。

本文以内嵌式形状记忆合金驱动器的研制为出发点，分析了机械手的研究背景和国内外机械手的发展现状，对SMA机械手的研究意义进行了深刻地探讨。

在已有研究基础上，阐述了内嵌式形状记忆合金驱动器的原理、结构、分类与制作方法，对SMA的相变原理和特性进行了深入的研究与分析，建立并设计了SMA控制的模型，进一步分析了该结构存在的问题，并通过结构设计加以克服。

随之分析了人体手臂肘关节的结构与运动特性，阐释了肘关节在机械手设计中的必要特点与重要性。对肘关节中肱骨、尺骨和桡骨进行了结构分析，设计了SMA控制模型下的机械肘关节，并装配成完整状态。

对以SMA为控制模型机械手肘关节进行外形裹覆设计，摒弃了传统的无裹覆或者简单裹覆的现状，使用柔性极好的橡胶材料对机械手进行完美的外形包装，使其更接近于人体的手臂的运动性能。

最后设计了内嵌式SMA机械手肘关节的动态控制模型。分析了开关控制、两极开关控制以及饱和控制等三种控制发放的利弊，在实验模拟之后并进行优化设计，完成了现阶段优良的动态控制系统模型。实验表明，该设计能够有效实现人体手臂的一般重物的搬移、抓取、旋转等基本动作。

关键词：机械手；肘关节；内嵌式形状记忆合金；动态控制模型

Abstract

With the development of science and technology, the application of robot is more and more extensive, and the relevant research is carried out in the world. One kind based on

Temperature controlled shape memory alloy (SMA) developed by the embedded driver, the output displacement, high output power weight ratio, drive and control is simple, get a wide range of attention.

In this paper, the development of the embedded shape memory alloy actuator as the starting point, analyzes the research background of the manipulator and the development status of the domestic and foreign mechanical hand, and deeply discusses the significance of the research on the SMA manipulator.

On the basis of the existing research, expounds the embedded shape memory alloy actuator principle, structure, classification and manufacturing method, of SMA phase transformation theory and characteristics of in-depth research and analysis, designed and established the control of SMA model, further analysis of the structure of the existing problems, and through the design of the structure to be overcome.

With the analysis of the structure and movement characteristics of the elbow joint of the human body, the necessary characteristics and importance of the elbow joint in the design of the manipulator were explained. Of elbow joint humerus, ulna and radius were structural analysis, design of SMA control model of mechanical elbow joint, and assembled into complete state.

To SMA for the control of the mechanical model of the elbow joint shape wrapped design, to abandon the traditional coated or simply wrapped the present situation, use flexible excellent rubber material of the manipulator to perfect the appearance of packaging the closer to the human arm motion performance.

The final design of the dynamic control model of embedded SMA mechanical elbow joint. The advantages and disadvantages of three kinds of control, such as switch control, bipolar switch control and saturation control, are analyzed, and the optimal design is carried out after the experiment simulation. Experiments show that the design can effectively achieve the general weight of the move, grab, rotate the basic human arm movements.