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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Omega-Shaped Inchworm-Inspired Crawling Robot With Large-Index-and-Pitch (LIP) SMA Spring Actuators
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Omega-Shaped Inchworm-Inspired Crawling Robot With Large-Index-and-Pitch (LIP) SMA Spring Actuators

机译：欧米茄（Omega）形状的蠕虫爬行机器人，具有大分度和间距（LIP）SMA弹簧执行器

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摘要

This paper proposes three design concepts for developing a crawling robot inspired by an inchworm, called the Omegabot. First, for locomotion, the robot strides by bending its body into an omega shape; anisotropic friction pads enable the robot to move forward using this simple motion. Second, the robot body is made of a single part but has two four-bar mechanisms and one spherical six-bar mechanism; the mechanisms are 2-D patterned into a single piece of composite and folded to become a robot body that weighs less than 1 g and that can crawl and steer. This design does not require the assembly of various mechanisms of the body structure, thereby simplifying the fabrication process. Third, a new concept for using a shape-memory alloy (SMA) coil-spring actuator is proposed; the coil spring is designed to have a large spring index and to work over a large pitch-angle range. This large-index-and-pitch SMA spring actuator cools faster and requires less energy, without compromising the amount of force and displacement that it can produce. Therefore, the frequency and the efficiency of the actuator are improved. A prototype was used to demonstrate that the inchworm-inspired, novel, small-scale, lightweight robot manufactured on a single piece of composite can crawl and steer.
机译：本文提出了三种设计概念，以开发一种受蠕虫启发的爬行机器人，称为Omegabot。首先，为了运动，机器人将身体弯曲成欧米茄的形状来大步前进；各向异性的摩擦垫使机器人可以通过这种简单的动作向前移动。第二，机器人主体由单个部件制成，但具有两个四连杆机构和一个球形六连杆机构。这些机械装置被二维图案化为一块复合材料，并折叠成重量小于1 g的机器人主体，并且可以爬行和操纵。该设计不需要组装车身结构的各种机构，从而简化了制造过程。第三，提出了使用形状记忆合金（SMA）螺旋弹簧致动器的新概念。螺旋弹簧被设计为具有较大的弹簧系数，并在较大的俯仰角范围内工作。这款大螺距，大螺距的SMA弹簧执行器冷却速度更快，所需的能量更少，而不会影响其产生的力和位移。因此，提高了致动器的频率和效率。原型被用来证明以单虫复合材料制造的受蠕虫启发的新颖，小型，轻便的机器人可以爬行和操纵。

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