基于SMA驱动的仿尺蠖微型机器人  

The Inchworm-like Bionic Micro Robot Driven by SMA

作　　者：单彦霞[1] 李宇鹏[2] 

机构地区：[1]燕山大学里仁学院,河北秦皇岛066004 [2]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《机械设计与研究》2017年第1期50-53,共4页Machine Design And Research

基　　金：秦皇岛科技计划资助项目(201401A052)

摘　　要：提出了一种形状记忆合金驱动的仿尺蠖微型蠕动机器人,该微机器人的柔性机构明显地提高了其移动能力,并且可使该机器人实现主动转弯。同时,创造性地利用四连杆机构改变输出力的方向实现了微机器人的摩擦自锁,保证了单向运动。阐述了微机器人的运动机理,对微机器人进行了动态特性分析,得到了其响应时间和输出位移。A inchworm-like bionic micro crawling robot was put forward, the movement ability was improved obviously by the compliant mechanism, and the micro robot also could make a turn actively. The friction self-locking of the micro robot was come trued by changing the output force direction by the four-linkage mechanism, and the one-way movement was assured. The movement mechanism of the micro robot was stated, the dynamic characteristic analysis was progressed, and the responded time and the output displacement were obtained.

关 键 词：形状记忆合金(SMA) 驱动器 微型机器人 四连杆机构 

分 类 号：TH12[机械工程—机械设计及理论]