The invention relates to a multi-gait mobile soft robot based on shape memory alloy, which comprises a unit main body, supporting legs, steering memory alloy, memory springs and a temperature adjusting device, the unit main body has elasticity, one side of the upper end of each supporting leg is hinged to the unit main body, and the other side opposite to the upper end of each supporting leg is connected with the unit main body through the memory spring, thereby supporting the unit body, the steering memory alloys are fixedly arranged on the two sides of the unit body, and the temperature adjusting devices are used for increasing or decreasing the temperature of the steering memory alloys and the memory springs so that the steering memory alloys and the memory springs can be stretched or shortened. The multi-gait moving soft robot based on the shape memory alloy has the following beneficial effects that the multi-gait moving soft robot based on the shape memory alloy only depends on a single-row structure, steering of the soft robot can be achieved by arranging the steering memory alloy on the two sides of the unit main body, the structure is simpler and smaller, the structure is more compact, and the multi-gait moving soft robot can be suitable for scenes with more strict requirements on the volume of the soft robot.

    本发明涉及一种基于形状记忆合金的多步态移动软体机器人,包括单元主体、支撑腿、转向记忆合金、记忆弹簧以及调温装置,单元主体具有弹性,多个支撑腿上端一侧与单元主体铰接,其上端相对的另一侧通过记忆弹簧与单元主体连接,供以支撑单元主体,转向记忆合金固定设置于单元主体两侧,调温装置用于升高或降低转向记忆合金和记忆弹簧的温度,使转向记忆合金和记忆弹簧伸长或缩短。实施本发明实施例,具有如下有益效果:本基于形状记忆合金的多步态移动软体机器人仅依靠单列结构,通过在单元主体两侧设置转向记忆合金,就能够实现软体机器人的转向,结构更加简单小巧,能够适用于对软体机器人体积要求更加严苛的场景。


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    Title :

    Multi-gait mobile soft robot based on shape memory alloy


    Additional title:

    一种基于形状记忆合金的多步态移动软体机器人


    Contributors:
    LI WEIDONG (author) / HU DIANGANG (author) / YANG LEI (author) / XIAO JINHUA (author)

    Publication date :

    2021-11-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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