Crawling robot driven based on SMA

Abstract

The invention discloses a crawling robot driven based on SMA, and relates to the technical field of soft-bodied robots. The crawling robot includes leg structures, wherein the leg structures include upper end covers, lower end covers, connecting shafts, front SMA springs, rear SMA springs, upper SMA springs and rigid springs; the upper end covers and the lower end covers are opposite to each other, and the two ends of the connecting shafts are connected with the upper end covers and the lower end covers through ball hinges correspondingly; the two ends of the front SMA springs, the rear SMA springs, the upper SMA springs and the rigid springs are fixedly connected with the upper end covers and the lower end covers correspondingly; the front SMA springs, the rear SMA springs, the upper SMAsprings and the rigid springs are arranged in parallel with one another, and the front SMA springs, the upper SMA springs, the rear SMA springs and the rigid springs are arranged in sequence on the circumference which takes the centers of the lower end covers as the centers of the circles; and span SMA springs are further arranged for raising the leg structures. The crawling robot can realize crawling movements and advance over obstacles, and in combination with a softening design of the body, the crawling robot can be applied to an unstructured environment to assist humans in work.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a crawling robot driven by SMA. Background technique [0002] A robot refers to a man-made machine device that can perform tasks automatically, and realize various functions by its own power and control ability, so as to replace or assist human work. Traditional robots are usually made of metal and other hard materials, loaded with connected electronic instruments and components, and can be applied to various needs such as industrial manufacturing and heavy object transportation. However, in the application process, traditional robots have certain limitations. Especially in some unstructured environments, traditional robots cannot enter them at all and cannot assist humans in their work. In order to be able to adapt to various unstructured environments and meet the needs of complex motion, those skilled in the art are focusing on developing and manufacturing a new type of fl...

AI Technical Summary

Problems solved by technology

Traditional robots are usually made of metal and other hard materials, loaded with connected electronic instruments and components, and can be applied to various needs such as industrial manufacturing and heavy object transportation. However, in the application process, traditional robots have certain limitations. Especially in some unstructured environments, traditional robots cannot enter them at all and cannot assist humans in their work

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