| SMA驱动的微型双三足步行机器人作方位运动的研究 |
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| 引用本文： | 祝捷 曹志奎 等. SMA驱动的微型双三足步行机器人作方位运动的研究[J]. 传动技术(上海), 2002, 16(4): 11-15 |
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| 作者姓名： | 祝捷 曹志奎 等 |
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| 作者单位： | 上海交通大学机械工程学院 上海200030(祝捷，曹志奎)，上海交通大学机械工程学院 上海200030(马培荪) |
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| 摘 要： | 对第一代形状记忆合金（SMA）驱动的微型六足步行机器人进行了改进，创新设计了双三足机器人的身体传动关节，并首次提出组合偏动SMA驱动器，使机器人的刚性躯体柔性化，从而实现了微型双三足步行机器人（MDTWR）的全方位运动。
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| 关 键 词： | 组合偏动式 双三足机器人 全方位运动 形状记忆合金 |
| 文章编号： | 1006-8244(2002)04-11-05 |
Research Omnidirectional Movement of Micro Dual-tripodWalking Robot Motivated by Shape Memory Alloy |
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| Zhu Jie Cao Zhi-kui Ma Pei-sun. Research Omnidirectional Movement of Micro Dual-tripodWalking Robot Motivated by Shape Memory Alloy[J]. Drive System Technique, 2002, 16(4): 11-15 |
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| Authors: | Zhu Jie Cao Zhi-kui Ma Pei-sun |
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| Abstract: | Some imrovement was made in the first-generation Micro Hexpod Walking Robot motivated by shape memory alloy(SMA). It created the body turning joint of a dual-tripod robot and presented combinated bias actuator of SMA for the first time, which made the rigid body of the robot become supple. As a result, we achieved he omnidirectional movement of Micro Dual-tripod Walking Robot(MDTWR). |
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| Keywords: | combinated bias actuator dual-tripod robot omnidirectional movement |
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