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Shape memory alloy driven miniature three-leg walking robot

A technology of walking robots and memory alloys, applied in the field of robots, can solve the problems that robots cannot realize turning movements, and achieve the effect of realizing all-round movements

Inactive Publication Date: 2002-12-18
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the limitation of the design form of the mechanism, the robot cannot realize turning motion

Method used

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  • Shape memory alloy driven miniature three-leg walking robot
  • Shape memory alloy driven miniature three-leg walking robot

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Embodiment Construction

[0018] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0019] As shown in Fig. 1, the present invention mainly comprises body rotation mechanism, combined offset type SMA driver and walking mechanism.

[0020] The walking mechanism is composed of six symmetrically arranged legs 1 to 6, the six legs are crossed and combined, 1, 3, 5 and 2, 4, 6 are each in a group, and the three legs in each group move synchronously, and the two groups of legs are realized by alternating The actions of lifting, deflecting, and landing are used to realize the forward linear motion of the robot.

[0021] The body rotation mechanism includes two trident supports, an upper trident support 7 and a lower trident support 16, wherein the support 7 is sleeved on the shaft of the support 16, and the two can rotate relatively. Three legs of the same group are respectively connected on each support, ...

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Abstract

The miniature double three-foot walking robot driven by marmen driver includes body moving mechanism, combined biasing SMA driver and walking mechanism. Six symmetrically-arranged legs are cross-combined into two groups, they are respectively connected on two layer three-fork supporting frame by means of respective base board, supporting bar of leg is connected with cross supporting frame and canbe turned round its base board, the marmen wire is connected between the top of supporting bar and bottom end, and two groups of legs are respectively connected with marmen spring and general biasingspring. Said invention utilizes the marmen driven to make the robot implement steering movement, linear movement and omnibearing movement.

Description

Technical field: [0001] The invention relates to a walking robot, in particular to a shape memory alloy-driven miniature bi-three-legged walking robot, which adopts double-layer flexible body joints and combined offset shape memory alloy (SMA) drivers to effectively realize miniature hexapods. The robot moves in all directions. It belongs to the field of robotics. Background technique: [0002] At present, there are generally two situations to realize the steering movement of a hexapod robot. If the body of the robot is rigid, its steering is generally done through leg movements, so each leg should have at least 3 degrees of freedom: hip joint, thigh and calf, which often leads to complex structures and too much freedom. There are too many drivers, which brings troubles to design and control. If the body of the robot is connected in segments, in order to realize the steering, there should be a pitch degree of freedom and a side swing degree of freedom between each seg...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06
Inventor 祝捷曹志奎马培荪
Owner SHANGHAI JIAO TONG UNIV
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