The invention provides a steerable soft crawling robot based on shape memory alloy driving and a control method of the steerable soft crawling robot. The robot is composed of a flexible body, flexible feet, flexible springs, a shape memory alloy driver and a wireless induction coil, wherein the flexible body consists of a head part and a tail part, and the flexible feet are distributed on the bottom surfaces of the head part and the tail part; the flexible feet have directivity, and provided backward friction force is smaller than provided forward friction force; the head part and the tail part of the flexible body are connected through the flexible springs and the shape memory alloy driver; the shape memory alloy driver is formed by wrapping a shape memory alloy wire with a flexible substrate structure; and the wireless induction coil wraps the flexible body, is connected with the shape memory alloy driver and is used for heating the shape memory alloy wire in the shape memory alloy driver. The steerable soft crawling robot has the advantages of being simple in structure, small in size and light in weight.
本发明提出一种基于形状记忆合金驱动的可转向软体爬行机器人及其控制方法,机器人由柔性躯体、柔性足部、柔性弹簧、形状记忆合金驱动器和无线感应线圈组成;柔性躯体由头部和尾部两部分组成,头部和尾部的底面上分布着柔性足部;柔性足部具有方向性,提供的后向摩擦力小于前向摩擦力;柔性躯体的头部和尾部由柔性弹簧和形状记忆合金驱动器连接;形状记忆合金驱动器由形状记忆合金丝包覆在柔性基底结构中而构成;无线感应线圈包覆柔性躯体,并与形状记忆合金驱动器连接,用于加热形状记忆合金驱动器内的形状记忆合金丝。本发明具有结构简单、体积小、重量轻的优点。
Steerable soft crawling robot based on shape memory alloy driving and control method of steerable soft crawling robot
一种基于形状记忆合金驱动的可转向软体爬行机器人及其控制方法
2021-11-05
Patent
Electronic Resource
Chinese