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SMA弹簧作为形状记忆合金的一种主要应用形式,具有特殊的记忆功能,在许多工程领域已经得到了广泛的应用,特别是在作为智能驱动材料驱动微型机器人方面有着显著的作用。文章从分析SMA弹簧电热驱动原理出发,对采用SMA弹簧作为驱动部件的蠕虫机器人进行了实验研究,从实验中定量计算出蠕虫机器人中部SMA弹簧和两端部SMA弹簧的绕制关键性参数。
As a main application form of shape memory alloy, SMA spring has special memory function and has been widely used in many engineering fields. Especially, SMA spring plays a significant role in driving micro-robot as smart driving material. In this paper, based on the analysis of the principle of SMA spring electrothermal driving, the worm robot with SMA spring as the driving component is studied experimentally, and the key parameters of winding around SMA worm and SMA spring of worm robot are calculated quantitatively.