| 轮式微型机器人运动机理与步态规划 |
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| 引用本文： | 于会涛,马培荪,何冬青.轮式微型机器人运动机理与步态规划[J].东南大学学报,2006,22(2):191-195. |
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| 作者姓名： | 于会涛 马培荪 何冬青 |
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| 作者单位： | 上海交通大学机器人研究所 上海200030 |
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| 摘 要： | 在一种新型形状记忆合金驱动器的基础上,研制了一种微型蠕动机器人,该机器人采用轮式移动机构.对形状记忆合金驱动器、轮式移动机构的结构和运动机理以及机器人的步距扩大原理进行了讨论.并在此基础上,对机器人的直线运动步态和转弯步态进行了规划,使机器人在偏心轮自锁机构和换向机构作用下,不但可以前后运动,还具有主动转弯能力,在一定程度上克服了传统的形状记忆合金机器人移动速度慢、只能被动转弯的缺点.最后对形状记忆合金驱动器所需加热电流及该机器人的运动性能进行了试验分析.
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| 关 键 词： | 微型机器人 SMA驱动器 轮式 步态规划 |
| 收稿时间： | 10 20 2005 12:00AM |
Motion mechanism and gait planning of a wheeled micro robot |
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| Yu Huitao,Ma Peisun,He Dongqing.Motion mechanism and gait planning of a wheeled micro robot[J].Journal of Southeast University(English Edition),2006,22(2):191-195. |
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| Authors: | Yu Huitao Ma Peisun He Dongqing |
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| Institution: | Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200030, China |
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| Abstract: | Based on a novel shape memory alloy (SMA) actuator,a micro worming robot is presented.The robot adopts a wheeled moving mechanism.The principle of the robot's enlarged pace is introduced,and the structure and motion mechanism of the SMA actuator and the wheeled moving mechanism are discussed.The gait about the robot's rectilinear movement and turning movement is also planned.Under the effect of the eccentric wheel self-locking mechanisms and changing-direction mechanisms,the robot can move forward and backward,and turn actively,which overcomes the disadvantages of the traditional SMA micro robots to a certain extent.Furthermore,some experiments on the heating current of the SMA actuator and the robot's motion capability are carried out. |
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| Keywords: | micro robot shape memory alloy actuator wheeled gait planning |
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