The invention provides a cuttlefish-imitating robot based on two-way SMA spring driving, and belongs to the field of bionic robots. The problems that a traditional driver represented by a motor is large in noise, low in driving efficiency and the like are solved. A power part, a control part, a transmission part and an execution part of the robot are sequentially connected, the left end of a sliding rod of the execution part is connected with the right end of a rear end cover, the right end of the sliding rod is matched with the left end of a sliding groove, and relative sliding can be generated; the right end of the sliding groove is connected with the left end of the front end cover. The left end of the two-way SMA spring is connected with the sliding rod, the right end of the two-way SMA spring is connected with the sliding groove, and the transmission part is connected with the two-way SMA spring and supplies power to the two-way SMA spring. The shape memory alloy is used as a driver, the cuttlefish-imitating robot based on double-stroke SMA spring driving is designed, the cuttlefish-imitating robot is driven by the double-stroke SMA spring, a sliding rod and sliding groove device is used as an executing mechanism, and efficient and high-speed advancing can be achieved underwater.
本发明提出了一种基于双程SMA弹簧驱动的仿乌贼机器人,属于仿生机器人领域。解决了以电机为代表的传统驱动器,存在噪音大和驱动效率低等问题。该机器人的动力部分、控制部分、传输部分和执行部分依次连接,执行部分的滑杆的左端与后端盖的右端相连,滑杆的右端与滑槽的左端相配合,并能产生相对滑动;滑槽的右端与前端盖的左端相连;双程SMA弹簧的左端与滑杆相连,右端与滑槽相连,所述传输部分与双程SMA弹簧连接,为其供电。本发明利用形状记忆合金作为驱动器,设计了一种基于双程SMA弹簧驱动的仿乌贼机器人,该仿乌贼机器人利用双程SMA弹簧驱动,以滑杆滑槽装置作为执行机构,能够在水下实现高效、高速前进。
Cuttlefish-imitating robot based on two-way SMA spring driving
一种基于双程SMA弹簧驱动的仿乌贼机器人
2022-04-29
Patent
Electronic Resource
Chinese
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
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