尺蠖式仿生微型机器人的结构和致动机理研究

摘要

A new bias two--stroke SMA micro--driver was put forward, a four-legged bionic mi- cro- robot which moved like an inchworm was designed in the foundation of the actuator. A new bion- ic foot based on a four--linkage mechanism was advanced, the output force direction of the micro-- driver was changed by using the new feet. The friction self--locking principle of the new feet was ana- lyzed and conditions for friction self--locking of the new micro--feet was obtained, the forward move- ment of the micro--robot was achieved reliably. The driving principle of inchworm bionic--robot was expounded. The motion regular and step and frequency of inchworm--robot were analyzed.%提出并设计了一种新型偏动式双程SMA驱动器,以此驱动器为基础研发出一种靠交替摩擦自锁方式行走的尺蠖运动式仿生微型机器人。提出一种四杆机构无关节新型腿,这种新型腿可以有效改变SMA驱动器输出力的方向。分析了四杆机构新型腿的摩擦自锁机理,并求解出腿实现摩擦自锁的条件,使微型机器人能可靠地实现摩擦自锁作用下的稳步行进。阐述了新型微型机器人的定向运动机理,对微型机器人的尺蠖式收缩和伸张运动规律、步幅、频率等进行了分析及求解。