摘要
开发了一种微型形状记忆合金直线驱动器 ,驱动器可沿轴向主动收缩和舒张 ,并可承受一定径向力 ,产生弯曲变形 .在此基础之上 ,开发了一种呈正方体型的 2 in(2× 2 .54cm)管内蠕动行走机构 .该机构模仿腔肠动物的行走方式并采用独特的拐弯策略 ,可在管内向前后、左右、上下六个方向行走 ,可通过“L”型、“T”
A miniature shape memory alloy (SMA) linear actuator was developed. The actuator can shrink and stretch along the axis actively and can bear some radial force and bend. At this basis, a 2 inch in pipe worming mechanism with a cubic form was developed. By imitating coelenterate's walking method and adopting unique turning method, this mechanism can walking in a pipe forward and backward, right and left, up and down, and can pass “L” and “T” form pipe jack.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2001年第1期64-67,71,共5页
Journal of Shanghai Jiaotong University
基金
中科院机器人学开放实验室基金课题 !(RL19980 4)
