【摘要】 本文提出了一种基于SMA驱动的刚/弹耦合式微型蠕动机器人,该机器人的特殊结构不但显著地增大了其移动速度,而且使该机器人具有了主动转弯能力,在一定程度上克服了目前SMA机器人移动速度慢、只能被动转弯的缺点。同时,该机器人利用两组偏心轮自锁机构及相应的平行四边形换向机构使其具有双向移动能力。文章最后对该机器人的控制系统进行了介绍。更多还原

【Abstract】 A novel wheeled micro robot driven by SMA is put forward in the paper. The robot’s special rigid/elastic coupling structure not only increases its moving speed greatly, but also enables the robot to turn initiatively, which overcomes some disadvantages of many SMA micro robots to a certain extent. On the same time, the robot realizes its bidirection movement by eccentric wheel self-locking mechanisms and corresponding parallelogram changing-direction mechanisms. Furthermore, the worming robot’s control system is presented in the paper.更多还原