用形状记忆合金丝提升气动软机器人弯曲精度与响应速度
A Soft Robotic Module with Pneumatic Actuation and Enhanced Controllability Using a Shape Memory Alloy Wire
- 在硅基结构中嵌入形状记忆合金丝，实现更精准的弯曲控制
- 弯曲误差从5度降至2度，响应时间由19秒缩短至3秒
- 适合需要高精度、低气压操作的医疗或精密抓取场景
本文提出一种集成形状记忆合金（SMA）丝的气动驱动软体机器人模块，通过在聚丙烯应变限制层中嵌入SMA丝并置于硅基矩阵中，提升了垂直平面内弯曲角度的控制精度。采用简单闭环控制算法调节弯曲角度，实验覆盖0至65度范围。通过摄像头测量实际角度变化，结果显示：使用SMA丝后，平均弯曲误差从5度降低至2度，响应时间从平均19秒缩短至3秒，且可在更低工作压力下实现更大弯曲幅度，显著增强可控性。
原文摘要 · Abstract (English)
In this paper, a compressed air-actuated soft robotic module was developed by incorporating a shape memory alloy (SMA) wire into its structure to achieve the desired bending angle with greater precision. First, a fiber-reinforced bending module with a strain-limiting layer made of polypropylene was fabricated. The SMA wire was then placed in a silicon matrix, which was used as a new strain-limiting layer. A simple closed-loop control algorithm was used to regulate the bending angle of the soft robot within its workspace. A camera was utilized to measure the angular changes in the vertical plane. Different angles, ranging from 0 to 65 degrees, were covered to evaluate the performance of the module and the bending angle control algorithm. The experimental tests demonstrate that using the SMA wire results in more precise control of bending in the vertical plane. In addition, it is possible to bend more with less working pressure. The error range was reduced from an average of 5 degrees to 2 degrees, and the rise time was reduced from an average of 19 seconds to 3 seconds.
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