A sma-driven multi-section bionic tail device

Abstract

The invention discloses a multi-section bionic tail device driven by SMA, which comprises: a first rack plate, an elastic connector and a shape memory alloy wire; The above-mentioned elastic connector is connected to form the main body of the bionic tail; the memory alloy wire is distributed between the adjacent first racks, and the length of the memory alloy wire can be changed by turning on and off the memory alloy wire, thereby changing the adjacent first frame. The relative positional relationship of the racks; the memory alloy wires are distributed in multiple segments in the circumferential direction of the first rack, and each segment of the memory alloy wires adopts an independent on-off control mode. The multi-section bionic tail device of the present invention can generate multi-degree-of-freedom swinging motion. During the motion of the bionic robot, by means of the two-way memory effect of the memory alloy wire, the swinging shape of the bionic tail can be adjusted to regulate the posture of the bionic robot body. Effectively avoid the occurrence of instability accidents during high-speed motion, and improve the quickness and flexibility of the bionic robot.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a robot balance adjustment device with a multi-section tail structure of bionic animals, which is suitable for the occasion of improving the speed and flexibility of bionic robots. Background technique [0002] Biomimetic robots are gaining more and more attention in the fields of emergency rescue, anti-terrorism and ground combat. In these occasions, due to the complexity of the terrain and the working environment, bionic robots are often required to have good movement flexibility. Most of the existing bionic robots mainly include two parts, the trunk and the limbs. At present, supported by the US Department of Defense, bionic robots BigDog, WildCat, Cheetah, etc. represent the leading level of high-performance sports. However, due to the lack of attitude control and balance technology of these robots, the improvement of their running speed and quick flexibility has been...

AI Technical Summary

Problems solved by technology

[0005] In summary, the introduction of the bionic tail into the robot improves the speed and flexibility of the robot's movement, but at this stage, the structural model of the bionic tail is quite different from the biological form, and most of them simplify it to a single rigid body model with only one pitch freedom degree , self-balancing can only be completed in a two-dimensional plane, and its spatial adjustment effectiveness, response speed, attitude control ability, etc. are not comparable to animal tails.

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