基于形状记忆合金驱动的运输机器人设计  

Design of transport robot driven by shape memory alloy

作　　者：胡殿刚 杨磊[1] 李卫东[1,2] Hu Diangang;Yang Lei;Li Weidong

机构地区：[1]武汉理工大学,武汉430063 [2]上海理工大学,上海200093

出　　处：《起重运输机械》2023年第16期47-53,共7页Hoisting and Conveying Machinery

基　　金：国家自然科学基金(52105396)。

摘　　要：基于对形状记忆合金的变形机理研究,文中设计出一种新型的运输机器人。该机器人主要由用于驱动控制机器人运动的SMA弹簧、实现机器人爬行的前后支腿以及具有运输功能的主体3组成部分。SMA弹簧基于双程形状记忆效应,能够实现双向变形,使机器人可以稳定地往复运动。通过改变机器人前后支腿与地面的摩擦系数,驱动器的伸缩变形转化成为机器人在表面上的有效位移。该机器人总质量37.8 g,但能够承载自身质量3倍的物体,且最大运动速度可达到0.8 mm/s。Based on the research on the deformation mechanism of shape memory alloy,a new design of transport robot is proposed.The robot is mainly composed of SMA springs used to drive and control the robot's movement,front and rear legs to realize the robot's crawling,and a main body with transportation function.SMA spring based on two-way shape memory effect can realize two-way deformation,so that the robot can reciprocate stably.By changing the friction coefficient between the front and rear legs of the robot and the ground,the telescopic deformation of the driver is transformed into the effective displacement of the robot on the surface.Although the total weight is only 37.8 g,the robot can carry objects three times its own weight,and the maximum moving speed can reach 0.8 mm/s.

关 键 词：形状记忆合金 驱动 柔性机器人 运输 

分 类 号：TH112[机械工程—机械设计及理论]