| 仿生“蚯蚓”机器人的SMA 执行器实现 |
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| 引用本文： | 刘伟庭,方向生,陈裕泉. 仿生“蚯蚓”机器人的SMA 执行器实现[J]. 传感技术学报, 2005, 18(3): 623-626 |
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| 作者姓名： | 刘伟庭 方向生 陈裕泉 |
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| 作者单位： | 浙江大学,生物医学工程系,生物传感器国家专业实验室,杭州,310027 |
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| 基金项目： | 国家自然科学基金，欧盟资助项目 |
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| 摘 要： | 虽然从生物学角度来说,蚯蚓的波浪式运动机制已经相当清楚,但在小尺寸下人工蚯蚓的实现仍然是极具挑战性的工作.采用记忆合金材料(SMA),设计实现了用于仿生蚯蚓机器人的执行器,并通过该执行器的动作循环模仿,实现了蚯蚓的波浪式运动.实现的人工蚯蚓共有四单元,每一单元都有可独立驱动的执行器.执行器由一根或三根SMA弹簧构成,其波动式运动的最高频率为0.6 Hz.每一单元人工蚯蚓,都被覆特定形状的软硅胶皮,该硅胶皮提供了SMA执行器的对抗力,同时也是安装微型腿的平台,从而进一步提高了人工蚯蚓的运动效率.初步的测试显示该执行器工作有效,人工蚯蚓的运动速度可达2.5mm/s,与真实的蚯蚓运动速度相近.
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| 关 键 词： | 仿生机器人 SMA执行器 波动式运动 |
| 文章编号： | 1005-9490（2005）03-0623-04 |
| 收稿时间： | 2004-12-13 |
| 修稿时间： | 2004-12-13 |
Real izing of SMA Actuators for Biomimetic Earthworm |
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| L IU Weit i ng,FA N G X i angsheng,C H EN Yuquan. Real izing of SMA Actuators for Biomimetic Earthworm[J]. Journal of Transduction Technology, 2005, 18(3): 623-626 |
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| Authors: | L IU Weit i ng FA N G X i angsheng C H EN Yuquan |
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| Affiliation: | Biosnsor N ational S pecial L ab , Dept. of B iomedical Engineering , Zhej iang Universit y , Hangz hou 310027 , China |
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| Abstract: | It is clear the undulatory movement principle of earthworm thanks to the biological research, however the replication of biological ones in real size is still limited. The SMA spring actuators for biomimetic earthworm are fabricated, and the artificial earthworm can undulatory move quite effectively through elongation and contraction of the actuators. The realized artificial earthworm consists of 4 modules with independently SMA actuators. Actuators consists of 1 or 3 SMA springs, and the maximum running frequency is near 0.6 Hz. Every module is covered with silicone shell on which microlegs are also developed, which enlarge the differential friction effect and improve the moving speed of artificial earthworm. Preliminary test demonstrates the maximum speed can be up to 2. 5 mm/s, it is near to the real ones. |
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| Keywords: | biomimetic robot SMA(shape memory alloy) actuator undulatory motion |
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