Fast Control of Negative Pressure Response of a Bio-inspired Suction Cup Actuated by Shape Memory Alloy

摘要

A bio-inspired suction cup actuated by shape memory alloy(SMA)for miniature wall climbing robots is developed based on studying characteristics of biological suction apparatus.Some fast control strategies are introduced to improve negative pressure response.Theoretic model of the suction cup is built,and simulation and experiments results indicate the effectiveness of the fast control strategies.The largest negative pressure of the suction cup can reach 14 000 Pa,and its generating and cancelling just need 5 s.Research results indicate the suction cup can be used as an adhesion mechanism for miniature wall climbing robots.