开发了一种微型形状记忆合金直线驱动器 ,驱动器可沿轴向主动收缩和舒张 ,并可承受一定径向力 ,产生弯曲变形 .在此基础之上 ,开发了一种呈正方体型的 2 in(2× 2 .54cm)管内蠕动行走机构 .该机构模仿腔肠动物的行走方式并采用独特的拐弯策略 ,可在管内向前后、左右、上下六个方向行走 ,可通过“L”型、“T”型管接头 Developed a miniature shape memory alloy linear actuator, the driver can take the initiative to shrink and relax along the axial direction, and can withstand a certain radial force, resulting in bending deformation on the basis of the development of a square-shaped 2in ( 2 × 2 .54cm) peristaltic walking tube mechanism .It imitates coelacanth walking and using a unique turning strategy, can walk in the tube to the front, back, left and right, up and down in six directions, through the “L” type, “T ”Type pipe fittings