仿蚯蚓蠕动微机器人及控制系统  

Micro Peristaltic Robot Simulating Earthworm and Its Control System

作　　者：马建旭[1] 李明东[1] 包志军[1] 王爱平 

机构地区：[1]上海交通大学机械工程学院

出　　处：《上海交通大学学报》1999年第7期855-857,861,共4页Journal of Shanghai Jiaotong University

基　　金：中国博士后基金

摘　　要：在研究蚯蚓运动机理的基础上，提出一种适用于微小软管移动的仿蚯蚓蠕动式微机器人．该机器人分为三个柔性单元体，每个柔性单元体主要由一对绝缘板、两板之间相连的三根形状记忆合金（ＳＭＡ）元件、充入空气将ＳＭＡ等加以封闭的橡胶囊组成．在ＳＭＡ的形状记忆效应和橡胶气囊的综合作用下，柔性单元体可实现蚯蚓各节相类似的运动，从而实现微机器人蠕动式前进．研制了该机器人的控制系统，并进行了简单的试验．理论和试验表明，该机器人既能满足柔软性、安全性要求，且结构原理新颖，又具有其他微机器人无法比拟的优势．Based on the research of motion principle of earthworm, this paper proposed a micro bionic and peristaltic robot simulating the walking motion of earthworm. The robot consists of three flexible units: each unit is composed of two plates connected with three shape memory alloys (SMA) every 120 degrees, and rubber gas bag around the SMA wires inflated with air inside. The unit corresponds to a segment of an earthworm, and the SMA and rubber gas bag have the same functions as the cricoid and longitudinal muscles of earthworm, and the flexible unit can fulfill the same motion as the segment of earthworm. A control system was designed to fulfill control of the three flexible unit's motions, such as stretching, shrinking and bending. The experiments show that the micro robot can walk forward and backward, and choose the direction. This micro robot is of safety, flexibility and simple structure.

关 键 词：机器人 微电子机械系统 控制系统 仿蚯蚓蠕动 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]