形状记忆合金(ShapeMemoryAlloy,SMA)丝用于微小型机器人中作驱动器时,为了达到要求的输出位移,其长度往往会超出有限的可用空间.研究了产生这种现象的原因,并开发了一种使SMA丝在整个可用空间中呈三维状态分布的微驱动器.理论分析和试验结果表明,该驱动器克服了SMA丝直线驱动器和SMA螺旋弹簧驱动器的弱点,拥有比骨骼肌更好的力学性能.应用于微小型仿生机器人时,它可在满足输出位移要求的同时,保证有较大的输出力和动作速度 When a shape memory alloy (SMA) wire is used as a driver in a miniature robot, its length tends to exceed the limited available space in order to achieve the required output displacement. The reason for this phenomenon is investigated and a So that the SMA wire in the three-dimensional state of the entire space available micro-drive.The theoretical analysis and experimental results show that the drive to overcome the SMA wire drive and SMA coil spring actuator weaknesses, with better mechanical properties than skeletal muscle. In the micro bionic robot, it can meet the output displacement requirements, while ensuring greater output force and speed