形状记忆合金在仿生水下泳动机器人中的应用

Application of Shape Memory Alloy Used for Bionic Underwater Swimming Robot

形状记忆合金具备功重比高、应变大、动作无声等特点,近些年来作为致动器在水下机器人领域有着广泛的应用。结合水下泳动型生物的分类和游动特点,介绍了国内外利用形状记忆合金研制的各种仿生水下机器人,并对其结构设计、驱动控制和推进性能进行分析;最后总结了当前形状记忆合金驱动的仿生水下机器人的不足,提出了今后研究需解决的问题。

Shape memory alloys（ SMA） have the characteristics for high power weight ratio,large strain,silent action,etc. In recent years,SMA has been widely applied in the underwater robot field as the actuator. The classification and swimming features of underwater swimming animals were expatiated. The various bionic underwater robots actuated by SMA home and abroad were introduced and their configuration design,driving and control method,propulsive performance were analyzed. Finally,a simple view of problems that need further study on the basis of the shortage of underwater robots actuated by SMA was given.