Creeping robot driven by shape memory alloy

A memory alloy and memory alloy spring technology, applied in the field of robotics, can solve the problems of limited operating ability, complex control, and few driving forms, and achieve the effects of improving adaptability, small size, and simple structure design and production.

Inactive Publication Date: 2018-12-18
BEIHANG UNIV
View PDF7 Cites 14 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although rigid body robots have high motion accuracy, there are still deficiencies in the following aspects: lack of stability, flexibility and environmental adaptability in complex terrain; grasping fragile objects; limited operating ability in narrow spaces; output volume The ratio is not high; the control is also more complicated
[0003] However, soft robots also face many shortcomings, such as relatively few driving forms, poor load, poor control accuracy, etc. These problems require researchers to conduct in-depth research on the materials, structural design and motion control of soft robots.
The current popular linear-driven and gas-driven soft robots need to mention huge energy devices and external sensors and generate noise. It is difficult for robots to be used in small spaces and to carry out secret investigations.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Creeping robot driven by shape memory alloy
  • Creeping robot driven by shape memory alloy
  • Creeping robot driven by shape memory alloy

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach

[0022] see Figure 1 , the selected SMA spring of the present invention is that diameter is 4.7mm, and wire diameter is 0.7mm, and the SMA spring that initial length is 30mm is stretched to 90mm, can measure the relationship diagram of energization time and generation force to it energization heating.

[0023] see figure 2 , the peristaltic robot made by the present invention is mainly composed of a silicone body 1 , an SMA spring 2 and a PEEK plate 3 in structure. see image 3 , the SMA spring 2 is inserted into the through hole in the PEEK plate 3, three PEEK plates 3 need to be arranged on the silicone body 1, and the SMA spring 2 is constrained in the groove of the silicone body 1.

[0024] The steps of the method of the present invention are described in detail below.

[0025] The specific implementation steps of the inventive method are as follows:

[0026] Step 1: Referring to the creatures with peristaltic movement in nature, in order to make the body of the robot...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a creeping robot driven by shape memory alloy and belongs to the technical field of robots. The creeping robot of which the body shape is a caterpillar is made by utilizing bionics, mechanics and materialogy according to the movement characteristics of the natural organism, namely the caterpillar. The body of the robot is made from a silica gel material. A shape memory alloy spring is used as a driver of the robot by utilizing the high integration and large output power characteristics of the shape memory alloy. By combining the movement principle of the caterpillar anddesigning structures with different friction rates at the two ends of the body of the robot, the robot can realize creeping advance. The body bending angle range of the creeping robot is large, the movement efficiency is high, and the environment adapting capability is great.

Description

technical field [0001] The invention relates to robot technology, which is a robot structure design using intelligent materials to drive flexible materials. Background technique [0002] Nowadays, robot technology is developing rapidly, and robots have been used in various fields, but most of the common robots are rigid-body robots composed of hard materials. Although rigid body robots have high motion accuracy, they still have deficiencies in the following aspects: lack of stability, flexibility and environmental adaptability in complex terrain; grasping fragile objects; limited ability to work in narrow spaces; output volume The ratio is not high; the control is also more complicated. The biological structure of nature brings inspiration to the design of robots. Combining some structures and theories of bionics, transplanting the flexibility and movement characteristics of soft-bodied organisms to robots can make robots make up for the shortcomings of rigid-body robots. ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10
CPCB25J9/1085
Inventor 史震云潘杰田加文黄皓蒋永瑞曾松
Owner BEIHANG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap