基于SMA驱动的仿生无源负压吸盘研究

针对负压吸盘在爬壁机器人吸附装置应用中存在的不足，提出了一种单程形状记忆合金（SMA）弹簧驱动器驱动的仿生多腔无源负压吸盘．解决了现有负压吸盘吸附装置不易微小型化、功重比低的缺点。该吸盘基于仿生学原理，采用当前发展迅猛的仿生智能材料——形状记忆合金，并基于拓扑机构学原理进行多腔体智能吸附机构结构设计，为爬壁机器人的壁面吸附机构设计提供一种方法。

Study on Bionic Adhering Mechanism of Wall-climbing Robots Based on SMA

Considering the disadvantage of negative-pressure suction of wall？climbing？robot in application to attaching devices, bionic muhilocular passive negative-pressure suction drived by a single-way Shape Memory Alloy （SMA） spring is proposed. This new suction overcomes the shortcoming of the existed suction, i.e. uneasy miniaturization and low power-weigh ratio, and uses the new intelligent material SMA which is being developed fast nowadays based on the bionic principle. Structure design for multilocular intelligent attaching device is conducted based on topology-device principle, which offers a new method to design attaching device structure for wall climbing robot.