基于SMA的仿昆虫蠕动微型车  

A micro trolley imitating insect wriggling using SMA actuator

作　　者：秦昌骏[1] 马培荪[1] 姚沁[1] 

机构地区：[1]上海交通大学机器人研究所,上海200030

出　　处：《功能材料与器件学报》2004年第2期239-244,共6页Journal of Functional Materials and Devices

摘　　要：介绍了一种形状记忆合金驱动的微型轮式蠕动机器人。它采用轮式移动结构,重点分析了刚/弹耦合式SMA驱动器和轮式移动机构的设计。微型机器人采用刚/弹耦合式SMA驱动器仿生蠕动输出力和位移,刚/弹耦合机构显著增大了微型机器人的前进步距,车轮逆向锁定机构控制了运动方向,确保了车轮滚动前进,实现了较高速度的运动。The design and control strategy of a shape memory alloy (SMA) driving micro creeping car are presented. Instead of following the traditional motion mechanism of legged - structure, a wheeled structure is adopted. It focuses on the design of its resilient- rigid coupling SMA actuator (RRSA), and wheeled-structure mechanism. The micro-robot utilizes PSA to mimic earthworm' s movement, flexible -rigid coupling mechanism to improve the walking pace greatly and the self-locking device to control the moving direction. So the micro-robot can roll at a high speed.

关 键 词：微型移动机器人 形状记忆合金 驱动器 刚/弹耦合 

分 类 号：TB381[一般工业技术—材料科学与工程] TP24[自动化与计算机技术—检测技术与自动化装置]