Abstract:

A new bias two-stroke SMA micro-driver was put forward,a four-legged bionic micro-robot which moved like an inchworm was designed in the foundation of the actuator.A new bionic foot based
on a four-linkage mechanism was advanced,the output force direction of the micro-driver was changed by using the new feet.The friction self-locking principle of the new feet
was analyzed and conditions for friction self-locking of the new micro-feet was
obtained,the forward movement of the micro-robot was achieved reliably.The driving principle of inchworm bionic-robot was expounded.The motion regular and step and frequency
of inchworm-robot were analyzed.

Key words: bionic micro-robot, SMA micro-actuator, inchworm-motion, four-linkage mechanism foot, friction self-locking

摘要：

提出并设计了一种新型偏动式双程SMA驱动器，以此驱动器为基础研发出一种靠交替摩擦自锁方式行走的尺蠖运动式仿生微型机器人。提出一种四杆机构无关节新型腿，这种新型腿可以有效改变SMA驱动器输出力的方向。分析了四杆机构新型腿的摩擦自锁机理,并求解出腿实现摩擦自锁的条件，使微型机器人能可靠地实现摩擦自锁作用下的稳步行进。阐述了新型微型机器人的定向运动机理,对微型机器人的尺蠖式收缩和伸张运动规律、步幅、频率等进行了分析及求解。

关键词: 仿生微型机器人, SMA驱动器, 尺蠖运动, 四杆机构腿, 摩擦自锁