论文部分内容阅读
对第一代形状记忆合金 (SMA)驱动的微型六足步行机器人进行了改进 ,创新设计了双三足机器人的身体转动关节 ,并首次提出组合偏动 SMA驱动器 ,使机器人的刚性躯体柔性化 ,从而实现了微型双三足步行机器人 (MDTWR)的全方位运动。
The first generation of shape memory alloy (SMA) driven miniature six-legged walking robots was improved. The twin-legged robots were designed and the joints of the body were designed. The combined SMA actuator was proposed for the first time to make the rigid body of the robot flexible. Thus realizing the omni-directional movement of the mini double three-legged walking robot (MDTWR).