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首页> 外文期刊>精密工学会誌 >UNDERWATER CREEPING MICROROBOT WITH SADDLE-SHAPED CLICK BUCKLING SPRING STRIP
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UNDERWATER CREEPING MICROROBOT WITH SADDLE-SHAPED CLICK BUCKLING SPRING STRIP

机译：带楔形弹簧扣弹簧条的水下蠕动微型机器人

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摘要

This paper deals with a microrobot actuated by the click behavior of a spring strip with SMA wire. If the center of the spring strip is fixed, points will be deflected to a large degree by a small change in the applied force. These points are suitable for using at an output point to obtain large displacement magnification at a critical click point. The mechanism is available for displacement magnification and tangential displacement was magnified by a factor of 1.67 at the leg point and a factor of 5.20 at the tiptoe. The mechanism for the microrobot is expected to have many unique applications in the field of movement and feeding. The microrobot consists of the click buckling spring strip, a body, leg and tiptoe. Because tiptoe has nonsymmetry friction, the microrobot can move by creeping motion A developed microrobot could creep in the air and underwater. The drive period of microrobot became short by cooling effect of water. The ratio of the drive period underwater to the drive period in the air is 1/5.82.The stroke of the tiptoe was 1.82mm at 2.0A and the mean crawl speed was 2.07mm/s at 2.6A underwater.
机译：本文研究了一种由SMA线弹簧带的咔嗒声驱动的微型机器人。如果弹簧条的中心固定，由于施加力的微小变化，点将在很大程度上偏转。这些点适合在输出点使用，以在临界点击点获得较大的位移放大倍率。该机构可用于位移放大，并且切向位移在腿点处放大了1.67倍，在脚尖处放大了5.20倍。微型机器人的机制有望在移动和进给领域中具有许多独特的应用。微型机器人由卡扣弯曲弹簧条，身体，腿和脚尖组成。由于脚尖具有非对称摩擦，因此微型机器人可以通过蠕动运动而移动。发达的微型机器人可以在空气和水下蠕动。由于水的冷却作用，微型机器人的驱动周期变短。水下行驶时间与空中行驶时间之比为1 / 5.82.2.0A时the的行程为1.82mm，水下2.6A时的平均爬行速度为2.07mm / s。

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