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为解决有限空间中形状记忆合金 ( SMA)丝驱动的转动关节臂输出角位移不足的问题 ,提出两种方法 :1减小关节的回转半径 ,用富余的输出力补偿输出角位移的不足 ;2在三维可用空间中布置 SMA丝 ,增大 SMA丝的长度 .开发了一种 SMA丝驱动的六足步行机器人 ,机器人的肢体布局和结构符合仿生学原理 ,轮廓尺寸为 2 5mm× 2 5mm× 2 5mm.并介绍了一种实现该机器人静步态行走的控制策略 .
In order to solve the problem of insufficient output angular displacement of the rotating articulated arm driven by shape memory alloy (SMA) wire in limited space, two methods are proposed: 1, reducing the radius of gyration of the joint and compensating for the shortage of output angular displacement by surplus output force; The SMA wire is arranged in the three-dimensional space and the length of the SMA wire is increased.A kind of SMA wire driven six-foot walking robot is developed.The body layout and structure of the robot are in accordance with the bionics principle, with the contour size of 2 5mm × 2mm × 2 5mm and introduced a control strategy to realize the static walking of the robot.