一种基于SMA驱动的仿生机器人设计

For the purpose of achieving the robot crawling inside the micro-tube, an inchworm-like robot is designed. The biomimetic robot is actuated by SMA, and mainly consists of axial extensor mechanism and radial clamper mechanism, which outputs inchworm movement by a certain sequence in time. This paper mainly focuses thermo-electric and mechanical parameters of SMA, and optimizes the mechanical structure of the robot based on these parameters. In order to investigate the motion feasibility and response time of the robot, experiments are carried out. Experiment results demonstrate that SMA actuators can provide smooth and reliable force for the extensor mechanism and clamper mechanism, and can reduce the response time by optimizing the parameters of SMA and mechanical structure. These would serve as the reference for future design of robot.