| 一种微小型蠕动机器人的步态分析 |
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| 引用本文： | 王頔.一种微小型蠕动机器人的步态分析[J].传感器与微系统,2007,26(7):61-63,66. |
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| 作者姓名： | 王頔 |
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| 作者单位： | 黑龙江大学,电子工程学院,黑龙江,哈尔滨,150080 |
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| 摘 要： | 介绍了一种形状记忆合金(SMA)驱动的微型蠕动机器人的结构和工作原理,并对蠕动机器人的直线运动原理和转弯运动原理分别进行了详细的分析和论述。此外,还通过详细的实验对蠕动机器人步距与SMA驱动器电流的关系、蠕动机器人转弯角度与SMA驱动器电流的关系,以及蠕动机器人响应速度与SMA驱动器电流的关系进行了分析,并确定了SMA驱动器的加热电流。
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| 关 键 词： | 蠕动机器人 形状记忆合金 步距 转弯角度 |
| 文章编号： | 1000-9787（2007）07-0061-03 |
| 修稿时间： | 2007-06-12 |
Walking stance analysis of micro creeping robot |
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| WANG Di.Walking stance analysis of micro creeping robot[J].Transducer and Microsystem Technology,2007,26(7):61-63,66. |
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| Authors: | WANG Di |
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| Affiliation: | College of Electronic Engineering, Heilongjiang University, Harbin 150080, China |
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| Abstract: | The basic principle and structure of the extension machine for micro creeping robot driven by shape memory alloy(SMA)are introduced.The linear movement principle and the turning principle of the creeping robot are analysed and discussed respectively.Furthermore,The relationships between the step distance of the creeping robot and the currents of SMA actuators,the turn angle of the creeping robot and the currents of the SMA actuators,the response time of the creeping robot and currents of the SMA actuators are analyzed and tested detailedly.Based on the experimental results,the current of the SMA actuators is obtained. |
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| Keywords: | creeping robot shape memory alloy(SMA) actuator kinematics |
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