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Design Gecko Inspired Robot Driven By Shape Memory Alloy Actuator

Posted on:2010-03-04Degree:MasterType:Thesis
Country:ChinaCandidate:Y FangFull Text:PDF
GTID:2178360302459653Subject:Precision machinery and precision instruments
Abstract/Summary:PDF Full Text Request
There is great distinct contrast between gecko which has high efficiency and high mobility ability evolved more than 1 billion years and the traditional climbing robot. The traditional electromotor can't provide large power enough to drive the miniature or small gecko inspired climbing robot for their very poor power weight rate. The new actuator with smart materials becomes the focus on the field of bionic robot. Shape memory alloy material is a new drive, and it can be used as an actuator. The shape memory actuator has some characters, such as small cubage,large driver power weight ratio,no pollution and noise. This paper uses the shape memory alloy to design an actuator and drive the climbing robot with it. This robot has light weight, small dimension, and simple structure.At first, this paper introduced the research status of the climbing robot which drove by the shape memory alloy actuator, and then explain the research sense and content of the paper. We introduce shape memory effect and the different type of the shape memory alloy actuator,select suitable actuator structure,design actuator in all . Next we build the thermal equation of the actuator in the process of the phase transformation, and analyze the relations between the drive force,drive displacement and the time of the different types shape memory alloy actuator. Some experiments are performed to prove the validity of the equation. We use the push-pull shape memory alloy actuator to drive the robot's feet and the body.Subsequently, imitating the Gecko's body of the natural world, we extract and simply the structure to design the Gecko inspired climbing robot; Next, we analyzed the movement of the robot balance. We also choose the right material and design the actuator installation.We design the gait of the robot, and the control system to conduct the movement of the robot. The hardware system uses a single chip microcomputer called 16F877A as the control core. We design the basic peripheral circuit and the heating control circuit, and write the corresponding software. At last, we do an experiment to check up the movement of the robot. The experiment shows that the robot can walk on the ground, and the shape memory alloy driving force can meet the design requirements, but the crawling velocity is slow and the obstacle performance is very weak.
Keywords/Search Tags:gecko inspired, wall-climbing robot, SMA (shape memory alloy), single chip microcomputer
PDF Full Text Request
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