SMA驱动的微型平面关节机器人的研究

DEVELOPMENT OF SMA PLANAR ARTICULATED MICROROBOT

近年来，利用形状记忆合金（ＳＭＡ）的形状记忆效应原理制作的驱动器已在机器人领域中得到应用，ＳＭＡ驱动器以其重量轻、结构紧凑、易控制等优点，大大推动了微型机器人的发展．本课题使用所研制的推挽式直线位移型和旋转关节型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．本文将介绍该机器人的结构设计，控制系统及其软件设计．

Recently Shape Memory Alloy(SMA) actuators which make use of the principle of shape memory effect are widely applied in robot SMA actuators have light weight and compact structure, and they are easy to control. Their application to robot has promoted the development of microrobot. In this paper, a planar articulated microrobot with on end effector that has three degrees of freedom(two rotary and one linear) is developed. The general structure design of the microrobot is introduced, and the control system and software are presented.