仿尺蠖微机器人的设计与实验  

Design and experiment of bionic-inchworm micro-robot

作　　者：王文慧 胡俊峰[1] WANG Wenhui;HU Junfeng(School of Mechanical&Electrical Engineering,Jiangxi University of Science and Technology,Ganzhou 341000,China)

机构地区：[1]江西理工大学机电工程学院,江西赣州341000

出　　处：《传感器与微系统》2020年第5期90-93,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(51565016,51265016);江西省杰出青年人才计划资助项目(20171BCB23063);江西省自然科学基金资助项目(20171BAB206029);江西省教育厅科学技术研究项目(GJJ160612);江西理工大学清江青年英才支持计划资助项目。

摘　　要：根据尺蠖运动规律设计了新型微机器人,模仿尺蠖躯体,设计能实现弯曲变形的躯干结构,采用形状记忆合金(SMA)弹簧模仿相当于尺蠖肌肉对躯干结构进行驱动。为了验证所设计仿尺蠖微机器人的合理性,制作了SMA弹簧以及微机器人样机。通过热力学分析确定了微机器人的控制参数。搭建实验测试系统进行实验,实验结果表明:微机器人加热时间为2.7 s时,爬行速度最大值达到4.1 mm/s,所设计微机器人能仿生尺蠖运动进行运动,说明了所设计的微机器人的可行性,为微机器人的设计提供新的思路。According to the law of the inchworm movement,a new type of micro-robot is designed.The body structure which can realize bending deformation by simulating the body structure of the inchworm is designed.The shape memory alloy(SMA)spring is used to simulate the structure of the trunk corresponding to the muscle of the inchworm.In order to verify the rationality of the designed micro-robot,SMA spring and micro-robot prototype are made.The control parameters of the micro-robot are determined by thermomechanical analysis.The experimental test system is built to carry out the experiment.The experimental results show that the crawling speed reaches 4.1 mm/s when heating time of which the micro-robot is 2.7 s.The designed micro-robot can move in the bionic movement of the inchworm,indicating the feasibility of the designed micro-robot,provides new ideas for the design of micro-robots.

关 键 词：微机器人 仿生机器人 形状记忆合金(SMA)弹簧 尺蠖运动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]