仿昆虫蠕动微型车研究

Analysis on Micro Trolley Imitating Insect Creeping

提出一种仿昆虫蠕动的SMA驱动微型车设计方案,使用SMA弹簧模仿蠕虫的纵向肌肉,利用SMA弹簧的交替收缩与舒张,配合开发的车轮自锁机构,实现车体的向前蠕动和转向。打破了近几年来国内外微小型机器人大多采用腿式结构的传统,是开发轮式微小型机器人的一次全新的尝试。

The design pattern of a micro trolley imitating insect wriggling,which uses SMA(shape memory alloy) spring as driver is put forward in this paper.Instead of using the legged structure,this paper put forward a new design method,that is,using SMA spring and rolling structure to imitate the movement of the worm.The micro trolley can advance and change direction when the SMA springs alternately shrink and stretch. The control system is compact and fully functional.\;