The invention provides a gecko-imitating robot based on a shape memory alloy driving flexible spine, the flexible spine of the robot is composed of three sections, and each section is provided with a hinge type rotating joint. Differential design is adopted in the driving mode of the flexible spine, the flexible spine is driven by two sets of symmetrically-distributed shape memory alloy springs, Joule heat generated by the ampere effect is used for heating the shape memory alloy spring on one side so that the shape memory alloy spring can automatically contract, bias force is provided, and deformation displacement is output to drive the flexible spine to actively deflect towards the heated side. The three-degree-of-freedom design is adopted, and pitching, advancing and retreating of the legs and twisting of the soles are controlled respectively. When the gecko-imitating robot straightly moves, the stride is increased through periodic lateral swinging of the flexible spine, and the movement speed is increased; and during obstacle avoidance, the posture of the machine body is adjusted by utilizing the physical characteristic that the shape memory alloy spring is heated to automatically shrink, so that a small-radius steering function is realized, and good movement flexibility and environmental adaptability are achieved.

    本发明提供了一种基于形状记忆合金驱动柔性脊柱的仿壁虎机器人,该机器人的柔性脊柱由三个节段组成,每一节段都设置有一个铰链式转动关节。所述柔性脊柱的驱动方式采用差动设计,由两组对称分布的形状记忆合金弹簧驱动,利用安培效应产生的焦耳热对某一侧的形状记忆合金弹簧进行加热使其自主收缩并提供一个偏置力,输出形变位移驱动柔性脊柱向加热一侧主动偏转。本发明采用三自由度设计,分别控制腿部的俯仰、进退和脚掌的扭转。仿壁虎机器人直行时通过柔性脊柱的周期性侧向摆动增大步幅,提高运动速度;避障时利用形状记忆合金弹簧加热自主收缩的物理特性调整机身姿态实现小半径的转向功能,具有良好的运动灵活性和环境适应性。


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    Title :

    Gecko-imitating robot based on flexible spine driven by shape memory alloy


    Additional title:

    一种基于形状记忆合金驱动柔性脊柱的仿壁虎机器人


    Contributors:
    QIU JIAHUI (author) / JI AIHONG (author) / YU YANGGUANG (author) / LIU YAHONG (author) / HAN QINGFEI (author)

    Publication date :

    2022-05-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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