The Research On The Application Of Micro Walking Robot Based On The Smart Materials

The research and develop of new micro actuator is the tide and emphasis of robotics. It is also the trend and difficulty of the development of MEMS technology. Based on the reference of data national and international broadly and the application of shape memory alloy (SMA) in the field of micro robot actuating technology, the working mechanism, distortion rule, actuating characteristics of SMA and the design principle, assembled way, controlling method of the SMA actuator were research deeply in this paper. A new model of micro walking robot was founded. And the structure design, actuating way, circuit design, and the relative hardware and software design, dynamic simulation, parameter calculation were done, we used the embedded microprocessor to control on real time, to make the robot have good performance and micromation. The ultrasonic sensor was used in the route detecting. It made the system have intelligence comparatively. And the fuzzy control method reduced the time of calculation. It made the robot system work effectively.The research work and the conclusion were based on the experiments, and confirmed by the hardware and software simulation. It can be reference by other research in this field.