摘要
主要设计了一个以形状记忆合金作为驱动器的微型爬壁机器人并对其进行了介绍和讨论。小型双足爬壁机器人采用对称式的结构,两臂末端安装真空吸附盘进行吸附爬壁,并以形状记忆合金弹簧(SMA)替代传统的电机作为机器人的驱动元件,简化了驱动结构,同时也减轻了重量。利用DSP对形状记忆合金的通电加热控制,并根据机器人步态规划输出不同控制信号,从而实现对小型双足爬壁机器人的运动控制。通过样机的制作验证了SMA驱动小型爬壁机器人的可行性。
This paper presents and discusses on the design of micro biped wall-climbing robot driven by shape memory alloy by（SMA）.The robot has a symmetrical configuration,each feet installs a vacuum absorptive plate to absorb and climb.And its motion is controlled by SMA.The actuator replaced the traditional motor,which simplified structure of the driver and reduced its weight.The actuating current in the SMA spring is controlled by Digital Signal Processing（DSP） which outputs different control signal according to the tread planning,thus the movement of the robot is controlled.It has advantages of simple structure,small dimension,lightweight and improved security of the robot when it works on walls.Last,the feasiblity of the robot with SMA is proved.
出处
《机械设计与研究》
CSCD
北大核心
2011年第4期28-30,共3页
Machine Design And Research
基金
国家自然科学基金(0905170)
浙江省教育厅资助项目(Y200909253)
