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一种形状记忆合金丝驱动的微小型六足机器人
引用本文: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,2000,34(10):1426-1429.
作者姓名:李明东  奚汉达  储金荻  马培荪  程君实
作者单位:1. 上海交通大学机械工程学院
2. 上海交通大学信息存储研究中心,上海200030
基金项目:国家计委九五重大科研资助项目(96-745)
摘    要:为解决有限空间中形状记忆合金(SMA)丝驱动的转动关节臂输出角位移不足的问题,提出了两种方法:①减小关节的回转半径,用富余的输出力补偿输出角位移的不足;②在三维可用空间中布置SMA丝,增大SMA丝的长度,开发了一种SMA丝驱动的六足步行机器人,机器人的肢体布局和结构符合仿生学原理,轮廓尺寸为25mm*25mm*25mm。并介绍了一种实用该机器人静步态行走的控制策略。

关 键 词:微型步行机器人  形状记忆合金  仿生学
文章编号:1006-2467(2000)10-1426-04
修稿时间:1999年7月9日

A Micro/Miniature Six Leged Robot Driven by SMA Wires
LI Ming-dong,XI Han-da,CHU Jin-di,MA Pei-sun,CHENG Jun-shi.A Micro/Miniature Six Leged Robot Driven by SMA Wires[J].Journal of Shanghai Jiaotong University,2000,34(10):1426-1429.
Authors:LI Ming-dong  XI Han-da  CHU Jin-di  MA Pei-sun  CHENG Jun-shi
Abstract:When a rotary articulated arm in a limited space is driven by SMA wires, its output angle displacement is often not enough. Two measures were proposed to resolve this problem, one is to induce the articulated radium of the rotary joint, compensate the inadequate output angle displacement by the abundant output force; another is to distribute the SMA wires in the usable space 3-dimentionally, increase the length of the SMA wires. A six-legged walking robot driven by SMA wires was developed. The distribution and the structure of the limbs accord with bionics and the outline size of the robot is 25 mm × 25 mm ×25 mm. A control method that can realize the static walk of the robot was introduced.
Keywords:micro walking robot  shape memory alloy( SMA)  rotary articulated arm  bionics  
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