哈尔滨工程大学学报
哈爾濱工程大學學報
합이빈공정대학학보
JOURNAL OF HARBIN ENGINEERING UNIVERSITY
2009年
9期
1012-1017
,共6页
胡冰山%王立文%付庄%赵言正
鬍冰山%王立文%付莊%趙言正
호빙산%왕립문%부장%조언정
微型爬壁机器人%形状记忆合金%吸盘%仿生
微型爬壁機器人%形狀記憶閤金%吸盤%倣生
미형파벽궤기인%형상기억합금%흡반%방생
miniature wall climbing robot%shape memory alloy%suction cup%bio-inspired
针对现有爬壁机器人负压吸附装置不易微小型化的缺点,通过归纳生物负压吸附器官的结构特点,应用新型功能材料形状记忆合金作为驱动器设计了一种仿生负压吸盘,并以该吸盘为吸附机构,设计了一种微型爬壁机器人.在对仿生吸盘中的弹性体板作受力分析的基础上建立了该吸盘负压产生模型,并分析了机器人在垂直壁面上运动的安全性条件.实验表明,该仿生吸盘能作为的微型爬壁机器人的吸附机构,带仿生吸盘的微型爬壁机器人能在倾斜玻璃壁面上爬行.
針對現有爬壁機器人負壓吸附裝置不易微小型化的缺點,通過歸納生物負壓吸附器官的結構特點,應用新型功能材料形狀記憶閤金作為驅動器設計瞭一種倣生負壓吸盤,併以該吸盤為吸附機構,設計瞭一種微型爬壁機器人.在對倣生吸盤中的彈性體闆作受力分析的基礎上建立瞭該吸盤負壓產生模型,併分析瞭機器人在垂直壁麵上運動的安全性條件.實驗錶明,該倣生吸盤能作為的微型爬壁機器人的吸附機構,帶倣生吸盤的微型爬壁機器人能在傾斜玻璃壁麵上爬行.
침대현유파벽궤기인부압흡부장치불역미소형화적결점,통과귀납생물부압흡부기관적결구특점,응용신형공능재료형상기억합금작위구동기설계료일충방생부압흡반,병이해흡반위흡부궤구,설계료일충미형파벽궤기인.재대방생흡반중적탄성체판작수력분석적기출상건립료해흡반부압산생모형,병분석료궤기인재수직벽면상운동적안전성조건.실험표명,해방생흡반능작위적미형파벽궤기인적흡부궤구,대방생흡반적미형파벽궤기인능재경사파리벽면상파행.
Even with present technology, it is difficult to miniaturize a negative pressure suction mechanism. By analyzing the characteristics of various biological suction apparatuses, a bio-inspired suction cup was designed that overcomes current technological shortcomings. The suction cup uses a new kind of functional material, a shape memory alloy (SMA) , as an actuator. Once the cup was designed, a miniature wall climbing robot with bio-inspired suction cups was assembled. Force analysis of the elastic plate in the suction cup allowed a theoretical model of the negative pressure it generates to be built. A range of safe working conditions was also determined for when the robot climbs steeply sloping walls. Experiments indicate that the suction cups provide sufficient traction for the robot to climb an inclined glass wall.