Creeping robot driven by shape memory alloy

Abstract

The invention discloses a creeping robot driven by shape memory alloy and belongs to the technical field of robots. The creeping robot of which the body shape is a caterpillar is made by utilizing bionics, mechanics and materialogy according to the movement characteristics of the natural organism, namely the caterpillar. The body of the robot is made from a silica gel material. A shape memory alloy spring is used as a driver of the robot by utilizing the high integration and large output power characteristics of the shape memory alloy. By combining the movement principle of the caterpillar anddesigning structures with different friction rates at the two ends of the body of the robot, the robot can realize creeping advance. The body bending angle range of the creeping robot is large, the movement efficiency is high, and the environment adapting capability is great.

Description

technical field [0001] The invention relates to robot technology, which is a robot structure design using intelligent materials to drive flexible materials. Background technique [0002] Nowadays, robot technology is developing rapidly, and robots have been used in various fields, but most of the common robots are rigid-body robots composed of hard materials. Although rigid body robots have high motion accuracy, they still have deficiencies in the following aspects: lack of stability, flexibility and environmental adaptability in complex terrain; grasping fragile objects; limited ability to work in narrow spaces; output volume The ratio is not high; the control is also more complicated. The biological structure of nature brings inspiration to the design of robots. Combining some structures and theories of bionics, transplanting the flexibility and movement characteristics of soft-bodied organisms to robots can make robots make up for the shortcomings of rigid-body robots. ...

AI Technical Summary

Problems solved by technology

Although rigid body robots have high motion accuracy, there are still deficiencies in the following aspects: lack of stability, flexibility and environmental adaptability in complex terrain; grasping fragile objects; limited operating ability in narrow spaces; output volume The ratio is not high; the control is also more complicated

[0003] However, soft robots also face many shortcomings, such as relatively few driving forms, poor load, poor control accuracy, etc. These problems require researchers to conduct in-depth research on the materials, structural design and motion control of soft robots.

The current popular linear-driven and gas-driven soft robots need to mention huge energy devices and external sensors and generate noise. It is difficult for robots to be used in small spaces and to carry out secret investigations.

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