仿蚯蚓机器人蠕动装置的研究

仿照蚯蚓在孔内蠕动的过程，研制了一种在孔内行 走的机器人驱动装置．该装置主要由形状记忆合金(SMA)胀紧环, SMA螺旋弹簧和偏压弹簧等 组成．它可以在孔内象蚯蚓一样实现径向胀紧、纵向收缩、纵向伸长等动作．SMA元件的动 作可以靠通、断电来实现，SMA胀紧环通电时与孔壁贴紧，断电时松开；SMA螺旋弹簧通电时 收缩，断电时由偏压弹簧使其伸开．其动作过程由计算机控制和协调．该驱动装置结构简单 ，体积小、重量轻、柔韧性好、控制方便．该装置在电火花弯孔加工中得到了实际应用．本 文介绍了该装置的组成、工作原理、设计要点和控制方式．

A STUDY OF A CRAWLING DEVICE IN IMITATED-EARTHWORM ROBOT

Imitating the course of the earthworm crawling in the hole, a kind of driving device of robot, which creeps in the hole, is studied. The device mainly consists of shape memory alloy (SMA), expansive pressing ring, SMA helix spring, and deflection pressing spring, which can carry out radial bulge, lengthways shrink and lengthways elongate and so on. The actions of SMA elements are completed by turning on or off the electric current through them. The SMA expansive pressing ring keeps close to the wall of the hole when it is electrified and relaxes when it is turned off; SMA helix spring shrinks as it is turned on and elongates as it is turned off deflection pressing spring. The process of the device action is controlled and harmonized by computer. The device has advantages of simple structure, small volume, lightweight, excellent flexibility and convenient control. It is actually applied in Electrical Discharge Manufacturing bent hole. The system composition, working principles; designing cruces and the mode of control are discussed in this paper.