KR102485764B1 - Driving system based on thermal actuator and robot joint using the driving system and robot hand using the driving system - Google Patents

Abstract

The present invention relates to a thermal actuator-based drive system and a robot joint and a robot hand using the thermal actuator-based drive system. In a driving system including actuators connected to both ends of the tendon to move the tendon and rotating the pulley by operation of the actuator, a first actuator connected to one end of the tendon and connected to the other end of the tendon The second actuator is a polymer-based thermal actuator driven by heat applied by winding a polymer fiber in one direction to form a coil and a shape memory alloy-based thermal actuator driven by heat applied by winding a shape memory alloy wire to form a coil. It is characterized by being formed in combination.

Description

Thermal actuator-based driving system and robot joint and robot hand using the thermal actuator-based driving system

The present invention relates to a thermal actuator-based driving system and a robot joint and a robot hand using the thermal actuator-based driving system, and more particularly, to a thermal actuator driving a combination of a polymer-based thermal actuator and a shape memory alloy-based thermal actuator. It relates to a robot joint and a robot hand using a drive system based on a base and a drive system based on the thermal actuator.

As thermal actuators that operate by heating and cooling, polymer-based thermal actuators and shape memory alloy-based thermal actuators are representatively known.

Polymer-based thermal actuators are made by twisting polymer fibers into coils and driven by heat, and can produce large output with light weight. In addition, the polymer-based thermal actuator has an advantage of easy control due to a small hysteresis in heating and cooling processes. However, there is a disadvantage in that it is difficult to expect fast operation due to low response characteristics due to limitations in manufacturing technology and polymer properties.

Shape memory alloys have the property of memorizing their shapes through annealing at high temperatures and returning to their memorized shapes at a certain temperature or higher. If it is manufactured by winding it in the form of a coil, it can be used as a shape memory alloy-based thermal actuator that can generate large displacement and large force by heat. In addition, the shape memory alloy-based thermal actuator has a fast response characteristic due to the characteristics of the metal. However, if manufactured by winding in the form of a coil, a large displacement can be output, but there is a disadvantage in that control is difficult due to large hysteresis.

As described above, although the above two types of thermal actuators have various advantages, they have inevitable disadvantages caused by the characteristics of materials, making it difficult to actually apply and utilize them in robots and the like.

Republic of Korea Patent No. 2004931

Therefore, an object of the present invention is to solve such conventional problems, and to form a driving system by combining a polymer-based thermal actuator and a shape memory alloy-based thermal actuator to utilize the advantages of each thermal actuator while supplementing the disadvantages. It is to provide a thermal actuator-based driving system and a robot joint and a robot hand using the thermal actuator-based driving system.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

According to the present invention, a drive system comprising a pulley, a tendon mounted on an outer circumferential surface of the pulley, and a driver connected to both ends of the tendon to move the tendon and rotating the pulley by the operation of the driver In the above, the first actuator connected to one end of the tendon and the second actuator connected to the other end of the tendon form a coil by winding a polymer fiber in one direction, and a polymer-based thermal actuator and shape memory alloy driven by applied heat It can be achieved by a thermal actuator-based drive system characterized in that it is formed by a combination of a shape memory alloy-based thermal actuator driven by heat applied by winding a wire to form a coil.

Here, the first actuator may be formed as the polymer-based thermal actuator, and the second actuator may be formed as the shape memory alloy-based thermal actuator.

Here, the shape memory alloy-based thermal actuator may be disposed in the driving direction of the pulley.

Here, the first actuator may be formed by arranging the polymer-based thermal actuator and the shape memory alloy-based thermal actuator in parallel.

Here, the second actuator may be formed by arranging the polymer-based thermal actuator and the shape memory alloy-based thermal actuator in parallel.

Here, the first actuator may be formed in a form in which the polymer-based thermal actuator is disposed inside the coil of the shape memory alloy-based thermal actuator.

In addition, the above object, according to the present invention, the above-described thermal actuator-based drive system; a first link fixed to one end of the pulley and arranged in parallel with the driver; And it can be achieved by a robot joint including a second link fixed to the pulley and driven according to the rotation of the pulley.

Here, an encoder for measuring a rotational angle of the pulley may be further included.

Here, a cooling unit for cooling the first actuator and the second actuator may be further included.

Here, a load cell fixed to the first actuator and the second actuator may be further included to measure forces applied to the first actuator and the second actuator.

Here, an infrared temperature sensor disposed on one side of the first driver and the second driver to measure temperature with infrared light may be further included.

In addition, the above object, according to the present invention, the finger mechanism of the robot hand for driving each knuckle at once by the movement of a plurality of knuckles and finger drive tendons connecting between the knuckles; and the above-described thermal actuator-based drive system, wherein the finger-driven tendon can be achieved by a robot hand connected to and operating either the first actuator or the second actuator.

According to the thermal actuator-based drive system of the present invention as described above, the advantage of being able to implement a heat-based drive system that compensates for the problem of response characteristics of the polymer-based thermal actuator and the control problem of the shape memory alloy-based actuator. there is

In addition, it has the advantage of being able to solve the problems of existing prosthetic arms/bionic arms that are heavy and noisy due to motors and pumps.

In addition, there is an advantage that the heat-based drive system can be transformed into various forms and applied to actual robots.

1 and 2 are diagrams illustrating an example of a driving system composed of only polymer-based thermal actuators.
3 is a diagram illustrating an example of a driving system composed of only shape memory alloy-based thermal actuators.
4 is a diagram showing a drive system based on a thermal actuator according to a first embodiment of the present invention.
5 is a diagram showing a drive system based on a thermal actuator according to a second embodiment of the present invention.
6 is a diagram showing a drive system based on a thermal actuator according to a third embodiment of the present invention.
7 is a photograph showing a state in which the actuator of FIG. 6 is actually manufactured.
8 is a diagram showing a conceptual diagram of a robot joint and a driving system mounted on the robot joint according to an embodiment of the present invention.
FIG. 9 is a diagram illustrating the driver configuration of FIG. 8 in more detail.
10 is a diagram showing a robot hand according to an embodiment of the present invention.

The specific details of the embodiments are included in the detailed description and drawings.

Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the detailed description of the following embodiments taken in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments make the disclosure of the present invention complete, and common knowledge in the art to which the present invention belongs. It is provided to completely inform the person who has the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numbers designate like elements throughout the specification.

Hereinafter, the present invention will be described with reference to drawings for explaining a thermal actuator-based driving system and a robot joint and a robot hand using the thermal actuator-based driving system according to embodiments of the present invention.

The polymer-based thermal actuator (shown as a in FIGS. 1 to 6) is an actuator formed by winding and twisting a polymer fiber such as polyurethane fiber in one direction to form a coil. When heat is applied to the polymer fiber, the polymer fiber moves in the longitudinal direction. The polymer-based thermal actuator in the form of a coil contracts due to thermal deformation of the polymer fiber because it contracts and expands in the radial direction. When cooled again, the coil-shaped polymer-based thermal actuator will stretch again.

In this case, heat may be applied to the polymer-based thermal actuator by including a heating unit disposed outside the polymer-based thermal actuator to dissipate heat. Alternatively, when manufacturing the polymer-based thermal actuator, the polymer fiber and the electrically conductive wire may be twisted together, and electricity may be supplied to the electrically conductive wire to generate heat by heat generated by resistance, thereby applying heat to the polymer-based thermal actuator.

Since the configuration and operation of the polymer-based thermal actuator are described in detail in Korean Patent Registration No. 2004931, a detailed description thereof will be omitted.

Next, the shape memory alloy-based thermal actuator (indicated by b in FIGS. 1 to 6) used in the present invention is an actuator formed in the form of a coil by winding a shape memory alloy wire, and the shape memory alloy-based thermal actuator manufactured as described above. When heat is applied to the coil, the shape memory alloy-based thermal actuator contracts. When cooled again, the shape memory alloy-based thermal actuator in the form of a coil elongates again.

Since the technical contents related to the configuration and operation of the above-described shape memory alloy-based thermal actuator are also known technologies, a detailed description thereof will be omitted.

Prior to the description of the thermal actuator-based driving system according to the present invention, a thermal actuator-based driving system that can be compared thereto will be first described with reference to FIGS. 1 to 3 .

1 and 2 are diagrams showing an example of a drive system composed of only polymer-based thermal actuators, and FIG. 3 is a diagram showing an example of a drive system composed of a shape memory alloy-based thermal actuator.

The thermal actuator system shown in FIG. 1 includes a pulley 140, a tendon 130, and polymer-based thermal actuators 110a and 120a.

A tendon 130 is mounted on an outer circumferential surface of the pulley 140, and polymer-based thermal actuators 110a and 120a are connected to both ends of the tendon 130, respectively. Upper ends of the polymer-based thermal actuators 110a and 120a are fixed. In the following description, the thermal actuator on the left side of the pulley 140 will be referred to as the first driver 110 and the thermal actuator on the right side will be referred to as the second actuator 120.

In the drawing, the first actuator 110a and the second actuator 120a are shown as being formed of a single coil, but each of the first actuator 110a and the second actuator 120a may be configured as a polymer-based thermal actuator bundle. there is.

When the first actuator 110a or the second actuator 120a is operated to compress or extend, the tendons 130 connected to the first actuator 110a and the second actuator 120a move, so that the tennon 130 and the pulley The pulley 140 can be rotated by the frictional force between the 140.

As shown in FIG. 1, the first actuator 110a may be initially mounted in a compressed coil state and the second actuator 120a in an extended coil state. As shown in FIG. When heat is applied to the actuator 120a, the second actuator 120a is compressed to pull the tendon 130, and the tension of the tendon 130 causes the coil of the first actuator 110a to extend. At this time, as the tendon 130 moves, the pulley 140 rotates counterclockwise.

Conversely, when heat is applied to the stretched first actuator 110a and the second actuator 120a is cooled, the first actuator 110a is compressed to pull the tendon 130 in the opposite direction, and the tension of the tendon 130 The coil of the second actuator 120a compressed by the second actuator 120a is extended again as shown in FIG. 1 , and the pulley 140 rotates clockwise to return to its original position.

In this way, the tendon 130 may be moved by the operation of the first actuator 110a and the second actuator 120a to rotate the pulley 140 counterclockwise or to return to the initial position.

As shown in FIG. 1, when both the first actuator 110a and the second actuator 120a are manufactured as polymer-based thermal actuators, they are very light, inexpensive, and flexible, but have the advantage of being able to generate a very large force. In addition, there is an advantage in that the hysteresis is relatively low and the control performance is excellent.

However, the polymer has a disadvantage in that it has a low response characteristic because it takes a long time to heat or cool the heated heat because its thermal conductivity is significantly lower than that of metal. Polymer-based thermal actuators manufactured by winding polymer fibers in one direction have a disadvantage in that control performance is poor when used in large quantities (used in a bundle form) because it is difficult to manufacture actuators with constant performance. In addition, as in the second actuator 120a of FIG. 1, a high tension is required to initially extend the coil, and a higher tension is required when used in a large amount in a bundle. Therefore, the force required to extend the coil interferes with driving, and there is a disadvantage in that a large force is applied to the pulley 140 .

The driving system of FIG. 3 differs from that of FIG. 1 in that both the first actuator 110b and the second actuator 120b are formed as shape memory alloy-based thermal actuators, and the rest of the configuration is the same as that of FIG. 1 .

The shape memory alloy-based thermal actuator has a characteristic of returning to the shape initially created through annealing when the phase changes with temperature change.

Shape memory alloy-based thermal actuators have the advantage of being lightweight, durable, and capable of generating very large forces. It is easy to manufacture because it is possible to manufacture a thermal actuator uniformly by winding a wire with relatively constant characteristics. In addition, since it has the characteristics of high heat conduction of metal, there is also an advantage that the reaction according to the temperature change is fast. In addition, there is an advantage in that the force to hinder the driving is small because the tension for initially extending the coil is small.

However, there is a problem in that control is difficult due to a large hysteresis due to driving characteristics using a phase change. In addition, if heat is not applied, there is no power to go back, so it remains in a stretched state. Therefore, when both actuators are stretched and stretched, problems such as the tendon 130 being stretched and separated from the pulley 140 or both actuators 110b and 120b contacting each other and being energized may occur.

Therefore, the driving system of FIG. 1 is suitable for precise control, and the driving system of FIG. 2 is suitable when a large force is required although it is not precise. However, each driving system has the aforementioned problems.

Hereinafter, a thermal actuator-based driving system according to the present invention will be described with reference to FIGS. 4 to 7 .

4 is a diagram showing a drive system based on a thermal actuator according to a first embodiment of the present invention, FIG. 5 is a diagram showing a drive system based on a thermal actuator according to a second embodiment of the present invention, and FIG. 6 is a diagram showing a thermal actuator-based drive system according to a third embodiment of the present invention, and FIG. 7 is a photograph showing a state in which the actuator of FIG. 6 is actually manufactured.

The thermal actuator-based drive system according to the present invention may include a pulley 140, a tendon 130, and a first actuator 110 and a second actuator 120 connected to both ends of the tendon 130. there is. Since the configuration and operation of the pulley 140, the tendon 130, the first actuator 110, and the second actuator 120 are the same as those described above with reference to FIGS. 1 to 3, a detailed description thereof will be omitted. do. However, in this embodiment, the first actuator 110 and the second actuator 120 are formed by a combination of a polymer-based thermal actuator and a shape memory alloy-based thermal actuator.

4 shows a thermal actuator-based drive system 100-1 according to a first embodiment of the present invention, in which the first actuator 110a is formed as a polymer-based thermal actuator and the second actuator 120b is a shape memory. It is formed as an alloy-based thermal actuator.

At this time, it is preferable that the shape memory alloy-based thermal actuator is disposed in the driving direction of the pulley 140 . Here, the driving direction of the pulley 140 means a direction in which the pulley 140 rotates as the actuator is compressed in a state where one actuator is initially arranged in a compressed state and the other actuator is extended. 4 shows the initial state of the driving system 100-1, when the second actuator 120b on the right side is compressed, the counterclockwise direction in which the pulley 140 rotates becomes the driving direction of the pulley 140.

As such, it is preferable that the second driver 120b located in the driving direction of the pulley 140 is formed as a shape memory alloy-based thermal actuator and the opposite first actuator 110a is formed as a polymer-based thermal actuator. Since the shape memory alloy-based thermal actuator does not require a large force to elongate the coil, the amount of force applied to the pulley 140 can be reduced. Therefore, since the number of opposite polymer-based thermal actuators (when formed as a bundle) can be reduced, the force impeded during driving is also reduced. In addition, since force is always applied in both directions due to elasticity by the polymer-based thermal actuator, the problem of the tendon 130 leaving the pulley 140 due to the stretching of the shape-memory alloy-based actuator can also be supplemented. Furthermore, the control problem due to hysteresis of the shape memory alloy-based actuator can be compensated for by driving the polymer-based thermal actuator on the opposite side, enabling more precise control.

5 shows a thermal actuator-based drive system 100-2 according to a second embodiment of the present invention, wherein the first actuators 110a and 110b include a polymer-based thermal actuator 110a and a shape memory alloy-based thermal actuator. (110b) is formed in a parallel arrangement. Also, like the first actuators 110a and 110b, the second actuators 120a and 120b may be formed in a form in which a polymer-based thermal actuator 120a and a shape memory alloy-based thermal actuator 120b are disposed in parallel.

When the first actuators 110a and 110b and the second actuators 120a and 120b are operated, the shape memory alloy-based thermal actuator and the polymer-based thermal actuator constituting each actuator are operated together to reduce the power of the shape memory alloy-based thermal actuator. With assistance, stable control can be performed with a polymer-based thermal actuator.

6 shows a thermal drive-based drive system 100-3 according to a third embodiment of the present invention. In this embodiment, the first actuator 110c is inside the coil of the shape memory alloy-based thermal actuator 110b. It may be formed in a form in which the polymer-based thermal actuator 110a is disposed. Also, like the first actuator 110c, the second actuator 120c may be formed in a form in which the polymer-based thermal actuator 120a is disposed inside the coil of the shape memory alloy-based thermal actuator 120b.

In this way, when the first actuator 110c or the second actuator 120c is disposed, the effect of arranging the polymer-based thermal actuator and the shape memory alloy-based thermal actuator in parallel as in the second embodiment described above is achieved, and at the same time The degree of integration of the actuators 110c and 120c can be improved. Furthermore, since heat exchange is easy between adjacent polymer-based thermal actuators and shape memory alloy-based thermal actuators, driving efficiency may also be improved.

Hereinafter, to describe the robot joint 200 and the robot hand 300 using the thermal actuator-based drive systems 100-1, 100-2, and 100-3 of the present invention with reference to FIGS. 4 to 7 do it with

8 is a diagram showing a conceptual diagram of a robot joint and a driving system mounted on the robot joint according to an embodiment of the present invention, and FIG. 9 is a diagram explaining the actuator configuration of FIG. 8 in more detail, and FIG. It is a drawing showing a robot hand according to an embodiment of the invention.

As shown in FIG. 8, the robot joint 200 according to the present invention may be applied and used to a robot arm or a robot leg performing joint motion.

The robot joint 200 according to an embodiment of the present invention includes the above-described thermal actuator-based drive systems 100-1, 100-2, and 100-3 with reference to FIGS. 4 to 7, the first link 210, and It may be configured to include a second link 220 .

One end of the first link 210 is fixed, and a pulley 140 constituting the thermal actuator-based driving systems 100-1, 100-2, and 100-3 is rotatably mounted at the other end. At this time, the first actuator 110 and the second actuator 120 may be disposed side by side on both sides with the first link 210 interposed therebetween.

The second link 220 is fixed to the pulley 140 and rotates about the center of the pulley 140 as the pulley 140 rotates. Therefore, as described above, when the second driver 120 is compressed, the pulley 140 rotates counterclockwise to rotate the second link 220 connected to the pulley 140 counterclockwise. Conversely, the pulley 140 can be returned to its original position by rotating the pulley 140 clockwise by compressing the first actuator 110 and extending the second actuator 120 . Therefore, the second link 220 can be driven in both directions in a predetermined angular range according to the operation of the first actuator 110 and the second actuator 120 . Although the drawing shows a configuration using the thermal actuator-based driving system 100-1 of FIG. 4, the aforementioned thermal actuator-based driving systems 100-2 and 100-3 of FIGS. 5 and 6 may also be used.

Although not shown, a heating unit for operating the first actuator 110 and the second actuator 120 may be formed. As described above, a separate heating means is added to one side of the first driver 110 and the second driver 120, or electricity is applied to the first driver 110 and the second driver 120 to generate heat by resistance. method can be used.

In addition, a cooling unit 150 for cooling the first driver 110 and the second driver 120 may be formed on one side of the first driver 110 and the second driver 120 . The first actuator 110 and the second actuator 120 may be formed to be naturally cooled, but a separate cooling unit 150 may be provided to release the compressed actuator more quickly. The cooling unit 150 may be formed as a cooling fan.

In addition, the first actuator 110 and the second actuator 120 may be provided with a load cell 170 that measures the magnitude of the force acting on the first actuator 110 and the second actuator 120, respectively. As shown, the load cell 170 may be disposed at the fixed end side of the first actuator 110 and the second actuator 120 .

In addition, an encoder for measuring the rotational angle of the pulley 140 may be formed to determine the position of the second link 220 .

In addition, a temperature sensor 160 for measuring the temperature of the actuators 110 and 120 may be disposed. For example, an infrared temperature sensor may be disposed on one side of the first actuator 110 and the second actuator 120 so as to be separated from each other. Temperatures of the first actuator 110 and the second actuator 120 may be measured at the location.

The control unit receives the measured value from the encoder, the load cell 170, and the infrared temperature sensor 160, and controls the operation of the robot joint 200 by operating the heating unit or the cooling unit 150 based thereon.

The robot hand 300 according to an embodiment of the present invention includes the aforementioned thermal actuator-based driving systems 100-1, 100-2, and 100-3 with reference to FIGS. 4 to 7 and the finger mechanism 310 of the robot hand. ).

As shown, in the finger mechanism 310 of the robot hand, a plurality of link finger joints 312 are formed in a link form, and a finger drive tendon 320 is connected to the plurality of finger joints 312 that are linked. this is connected At this time, the end of the finger drive tendon 320 is fixed to the finger knuckle 312 located at the end. When the finger drive tendon 320 is pulled with respect to the finger mechanism 310 of the robot hand configured as described above, the finger joint 312 fixed to the end of the finger drive tendon 320 moves, and the rest of the finger joints connected to the link ( 312) can also be operated in the form of bending the fingers by sequentially moving. In addition, each finger knuckle 312 is elastically connected, and when the finger drive tendon 320 is relaxed again, the elastic force between the finger knuckles 312 can operate the finger in a form of being stretched again.

Since the configuration of operating the finger mechanism 310 of the robot hand by means of the plurality of knuckles 312 and the finger drive tendon 320 connecting the knuckles 312 is a conventionally known technique, a detailed description thereof is omitted. I'm going to do it.

At this time, in the drawing, the finger mechanism 310 of the robot hand is formed in the same way as the actual human hand, but the number of finger mechanisms 310 is not limited thereto.

The finger drive tendon 320 may be connected to either the first actuator 110 or the second actuator 120 . At this time, the finger drive tendon 320 is preferably connected to the driving direction side of the pulley 140 as described above.

As shown, when heat is applied to the second actuator 120 to compress it, the finger drive tendon 320 connected to the second actuator 120 is pulled to bend the finger mechanism 310 . Conversely, when the first actuator 110 is compressed and the second actuator 120 is relaxed to its original position, the finger drive tendon 320 moves back to the initial position, and the finger mechanism 310 of the robot hand moves as if the finger is stretched. can be re-opened.

At this time, each of the finger mechanisms 310 may be individually driven by disposing the thermal actuator-based drive systems 110-1, 110-2, and 110-3 for the plurality of finger mechanisms 310, respectively. As shown, the other three fingers excluding the thumb and index finger may be configured to be bent or stretched at the same time.

In the case where the three movement guides 330 are disposed in the hand part of the robot hand 300 and the finger drive tendons 320 are connected as shown, the thermal actuator-based drive systems 100-1, 100-2, According to the operation of 100-3), the three finger mechanisms 310 can be operated at once. Since the movement pulley 330 is disposed, even if one of the three finger mechanisms 310 is restricted in movement by an obstacle, the other finger mechanism 310 can bend or unfold. Can be implemented.

The scope of the present invention is not limited to the above-described embodiments, but may be implemented in various forms of embodiments within the scope of the appended claims. Anyone with ordinary knowledge in the art to which the invention pertains without departing from the subject matter of the invention claimed in the claims is considered to be within the scope of the claims of the present invention to various extents that can be modified.

100-1, 100-2, 100-3: drive system based on thermal actuator
110: first driver
120: second actuator
130: tendon
140: pulley
150: cooling unit
160: temperature sensor
170: load cell
200: robot joint
300: robot hand
310: finger mechanism
312: finger joints
320: finger driven tendon
330: moving pulley

Claims (12)

A driving system including a pulley, a tendon mounted on an outer circumferential surface of the pulley, and a driver connected to both ends of the tendon to move the tendon, and rotating the pulley by operation of the driver,
The first actuator connected to one end of the tendon and the second actuator connected to the other end of the tendon are polymer-based thermal actuators and shape memory alloy-based thermal actuators having different reaction rates according to temperature changes and control performance according to hysteresis. is formed by a combination of
When the first actuator is contracted and the second actuator is initially arranged in an extended state, when implementing driving in which the pulley is rotated while the second actuator is contracted,
The first driver is formed of the polymer-based thermal actuator having less sagging due to hysteresis than the shape memory alloy-based thermal actuator, and the second actuator is the shape memory alloy-based thermal actuator having a faster reaction rate than the polymer-based thermal actuator. A thermal actuator-based drive system, characterized in that formed by.
A driving system including a pulley, a tendon mounted on an outer circumferential surface of the pulley, and a driver connected to both ends of the tendon to move the tendon, and rotating the pulley by operation of the driver,
The first actuator connected to one end of the tendon and the second actuator connected to the other end of the tendon are polymer-based thermal actuators and shape memory alloy-based thermal actuators having different reaction rates according to temperature changes and control performance according to hysteresis. is formed by a combination of
At least one side of the first driver and the second driver,
The shape memory alloy-based thermal actuator, which has a faster response rate than the polymer-based thermal actuator, and the polymer-based thermal actuator, which has less sagging due to hysteresis than the shape memory alloy-based thermal actuator, are contracted together or stretched together, so that the shape The polymer-based thermal actuator and the shape memory alloy-based thermal actuator are arranged in parallel so that control can be performed by the polymer-based thermal actuator while receiving power from the memory alloy-based thermal actuator. system.
According to claim 2,
At least one side of the first driver and the second driver,
Arranged in parallel, characterized in that the polymer-based thermal actuator is disposed inside the coil of the shape memory alloy-based thermal actuator to enable heat exchange between the shape memory alloy-based thermal actuator and the polymer-based thermal actuator. a thermal actuator-based drive system.
a finger mechanism of a robot hand that simultaneously drives each knuckle by movement of a plurality of knuckles and a finger driving tendon connecting the knuckles; and
It includes a drive system based on any one of the thermal actuators of claims 1 to 3,
The robot hand, characterized in that the finger drive tendon is operated by being connected to any one of the first actuator and the second actuator.
According to claim 4,
A moving pulley connected to the finger drive tendon and operating the plurality of finger mechanisms at once according to the operation of the drive system; further comprising,
The moving pulley,
a first movable pulley connected to a first portion of the finger-driven tendon and mounted on an outer circumferential surface of a second portion of the finger-driven tendon; and
A pair of second moving pulleys respectively connected to both ends of the second portion of the finger drive tendon and mounted on outer circumferential surfaces of the third and fourth portions of the finger drive tendon,
The third portion of the finger drive tendon is connected to one or two of the plurality of finger mechanisms, and the fourth portion of the finger drive tendon is one or two of the finger mechanisms to which the third portion of the finger drive tendon is not connected. A robot hand characterized in that connected to the dog.
delete A drive system based on the thermal actuator of any one of claims 1 to 3;
a first link fixed to one end of the pulley and arranged in parallel with the driver; and
A robot joint comprising a second link fixed to the pulley and driven according to rotation of the pulley.
According to claim 7,
A robot joint further comprising an encoder for measuring a rotation angle of the pulley. According to claim 7,
The robot joint further comprising a cooling unit for cooling the first actuator and the second actuator. According to claim 7,
The robot joint further comprising a load cell fixed to the first actuator and the second actuator, respectively, to measure forces acting on the first actuator and the second actuator. According to claim 7,
The robot joint further comprising an infrared temperature sensor disposed on one side of the first actuator and the second actuator to measure temperature with infrared light. delete

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