论文部分内容阅读
主要设计了一个以形状记忆合金作为驱动器的微型爬壁机器人并对其进行了介绍和讨论。小型双足爬壁机器人采用对称式的结构,两臂末端安装真空吸附盘进行吸附爬壁,并以形状记忆合金弹簧(SMA)替代传统的电机作为机器人的驱动元件,简化了驱动结构,同时也减轻了重量。利用DSP对形状记忆合金的通电加热控制,并根据机器人步态规划输出不同控制信号,从而实现对小型双足爬壁机器人的运动控制。通过样机的制作验证了SMA驱动小型爬壁机器人的可行性。
We mainly design a miniature climbing robot with a shape memory alloy as a driver and introduce and discuss it. Small bipedal climbing robot with symmetrical structure, the ends of the vacuum suction plate mounted on both ends of the adsorption climbing wall, and the shape memory alloy spring (SMA) instead of the traditional motor as the robot’s drive components to simplify the drive structure, but also Reduce the weight. The control of heating of shape memory alloy by DSP and different control signals are output according to the gait planning of the robot so as to realize the motion control of the small bipedal climbing robot. The feasibility of SMA-driven small wall-climbing robots is verified through the prototype production.