一种基于SMA的管道里蠕动机器人及其反馈控制  

In-pipe Worming Robot Driven by SMA Actuator And Its Feedback Control System

作　　者：王嵩[1] 曹志奎[1] 

机构地区：[1]上海交通大学机器大研究所,上海200030

出　　处：《传动技术》2005年第1期29-32,共4页Drive System Technique

摘　　要：介绍了一种SMA驱动的正方体型管道机器人的结构、运动原理及控制系统。通过协调十二组SMA 直线驱动器的动作,使机器人可在前后、左右、上下等六个方向上蠕动。重点分析了基于该机器人的电阻反 馈控制,采用简便的反馈方式有效地防止由于过热而产生的SMA记忆性能下降。The structure, moving principle as well as the control system of a 2-inch-pipe worming robot is introduced in this paper. Through harmonizing the behavior of 12 shape memory alloy (SMA) linear actuator the robot can move at 6 direction in the pipe, including forward and backward, up and down as well as left and right. A feedback control method on the basis of electric resistance is especially analyzed and applied, so that the SMA coil can be prevented form overheating and thus in result of a bad memorizing performance.

关 键 词：管道蠕动机器人 形状记忆合金(SMA) 直线驱动器 电阻反馈控制 

分 类 号：TH112[机械工程—机械设计及理论]