SMA 微型机器人的结构设计与分析

Design and Analysis on Structure of SMA Microrobot

使用所研制的推挽式直线位移型和转动关节型ＳＭＡ驱动器代替传统的伺服驱动系统，研制了一台三自由度（两个旋转自由度和一个直线自由度）且带末端夹持器的微型平面关节机器人。本文将介绍微型机器人的结构设计，分析其机构运动及主要特性指标，并进行结构的强度校核验算，再对微型机器人进行运动学和动力学分析。

In this paper, the push pull linear and rotary SMA actuators are used to replace servo motor, and a planar articulated microrobot with end effector that has three degree of freedom (two rotaries and one linear) is developed. The general structure design of the microrobot is introduced, the mechanism motion and the main characteristic standards of the microrobot are analyzed and the kinematics and dynamics analyses of the microrobot are carried out.