介绍了一种形状记忆合金驱动的微型轮式蠕动机器人.它采用轮式移动结构,重点分析了刚/弹耦合式SMA驱动器和轮式移动机构的设计.微型机器人采用刚/弹耦合式SMA驱动器仿生蠕动输出力和位移,刚/弹耦合机构显著增大了微型机器人的前进步距,车轮逆向锁定机构控制了运动方向,确保了车轮滚动前进,实现了较高速度的运动.
参考文献
| [1] | Kuribayashi;Katsutoshi .Millimeter - sized joint actuator using a shape memory alloy[J].Sensors and Actuators,1989,20:57-64. |
| [2] | Dominiek Reynaerts;Hendrik Van Brussel .Design aspects of shape memory actuators[J].Mechatronics,1998,8(06):635-656. |
| [3] | Teshigahara A.;Watanabe M. .Performance of a 7-mm microfabricated car[J].Journal of Microelectromechanical Systems: A Joint IEEE and ASME Publication on Microstructures, Microactuators, Microsensors, and Microsystems,1995(2):76-80. |
| [4] | Lee A P;Ciarlo D R;Krulevitch P A et al.A practical microgripper by fine alignment, eutectic bonding and SMA actuation[J].Sensors and Actuators,1996,A54:755-759. |
| [5] | 李明东,奚汉达,储金荻,马培荪,程君实.一种形状记忆合金丝驱动的微小型六足机器人[J].上海交通大学学报,2000(10):1426-1429. |
| [6] | 李明东,奚汉达,储金获,马培荪,郝颖明.一种正方体型管内仿生蠕动机器人[J].上海交通大学学报,2001(01):64-67,71. |
| [7] | Damle Rajendra;Rao Vittal;Kern Frank .Multivariable Neural Network Based Controllers for Smart Structures[J].Journal of Intelligent Material Systems and Structures,1995,6(07):516-528. |
| [8] | Madill Daniel R;Wang David.The Modeling and L2-Stability of a Shape Memory Alloy Position Control System[A].,1994:293-299. |
| [9] | Paul E. Kladitis;Victor M. Bright .Prototype microrobots for micro-positioning and micro-unmanned vehicles[J].Sensors and Actuators, A. Physical,2000(2):132-137. |
| [10] | 邹慧君,蓝兆辉,王石刚,郭为忠.机构学研究现状、发展趋势和应用前景[J].机械工程学报,1999(05):1-4. |
上一张
下一张
上一张
下一张
计量
- 下载量()
- 访问量()
文章评分
- 您的评分：
-
10%
-
20%
-
30%
-
40%
-
50%