仿医蛭微机器人中SMA的布局及与偏置弹簧匹配的研究

Research on the Arrangement of SMA and Spring Matching in the Micro Robot of a Medicinal Leech

为使仿医蛭管内微机器人在管内爬行时不产生振动 ,在研究其致动机理和振动特性的基础上 ,提出了该机器人弹性足中SMA的最佳布局方式及收缩部件中SMA与偏置弹簧倔强系数之间的最佳匹配关系 。

The paper introduces the locomotion principle and the vibration performance of a new kind of micro peristaltic robot in pipelines simulation of a medicinal leech. Based on the research, it makes the best arrangement for the SAM springs of the elastic legs in the robot, the best matching between the SMA springs and the common springs of the contracting part. As a result, the micro robot doesn't vibrate anymore. This founds the base of designing the micro robot.