仿蚯蚓蠕动微机器人及控制系统

在研究蚯蚓运动机理的基础上，提出一种适用于微小软管移动的仿蚯蚓蠕动式微机器人，该机器人分为三个柔性单元体，每个柔性单元体主要由一对绝缘板，两板之间相连的三根形状记忆合金元件，充入空气将ＳＭＡ等加以封闭的橡胶囊组成。在ＳＭＡ的形状记忆效应和橡胶气囊的综合作用下，柔性单元体可实现蚯蚓了相类似的运动，从而实现微机器人蠕动式前进。

Micro Peristaltic Robot Simulating Earthworm and Its Control System

Based on the research of motion principle of earthworm, this paper proposed a micro bionic and peristaltic robot simulating the walking motion of earthworm. The robot consists of three flexible units: each unit is composed of two plates connected with three shape memory alloys (SMA) every 120 degrees, and rubber gas bag around the SMA wires inflated with air inside. The unit corresponds to a segment of an earthworm, and the SMA and rubber gas bag have the same functions as the cricoid and longitudinal muscles of earthworm, and the flexible unit can fulfill the same motion as the segment of earthworm. A control system was designed to fulfill control of the three flexible unit's motions, such as stretching, shrinking and bending. The experiments show that the micro robot can walk forward and backward, and choose the direction. This micro robot is of safety, flexibility and simple structure.