[1]储诚中,董二宝,金虎,等.基于SMA驱动模块的仿生水母机器人[J].机械与电子,2018,(06):66-70.
　CHU Chengzhong,DONG Erbao,JIN Hu,et al.Aurelia Inspired Robot Based on SMA Actuator Modules[J].Machinery & Electronics,2018,(06):66-70.
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基于SMA驱动模块的仿生水母机器人()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2018年06期
页码:
66-70
栏目:
智能工程
出版日期:
2018-06-24

文章信息/Info

Title:

Aurelia Inspired Robot Based on SMA Actuator Modules

文章编号:
1001-2257(2018)06-0066-05
作者:
储诚中; 董二宝; 金虎; 许旻; 杨杰
(中国科学技术大学工程科学学院精密机械与机密仪器系,安徽 合肥 230026 )
Author(s):

CHU Chengzhong;  DONG Erbao;  JIN Hu;  XU Min;  YANG Jie

(Department of Precision Machinery & Precision Instrumentation, School of Engineering Science, University of Science and Technology of China, Hefei 230026, China)

关键词:
仿生机器人; 水下机器人; SMA驱动模块; 运动控制
Keywords:
bio-inspired robot;  underwater robot;  SMA actuator module;  motion control
分类号:
TP242
文献标志码:
A
摘要:
通过对海月水母的仿生性研究，设计制作了一款仿生水母机器人。为实现水母钟状体的收缩与释放动作，基于形状记忆合金(SMA)丝设计了一款新颖的具有类似于人工肌肉功能的驱动模块，详细描述了该模块的结构参数和制作工艺，并对其电气特性进行了测试研究。仿生水母机器人由6组SMA驱动模块辐射对称组装构成，采用了基于中枢模式发生器(CPG)网络的仿生控制方式，实现了水母机器人三维空间内多模式游动。最后，针对水母机器人不同的运动模式进行了多组实验，水母机器人游动数据验证了控制模型的有效性。
Abstract:
Inspired by aurelia, an underwater bio-robot was designed. A novel actuator module act as artificial muscles was proposed to achieve r eal locomotive behavior with pulse and recovery processes based on shape memory alloy (SMA) wires. The structure parameters and manufacturing process of the module are described in detail, and the electrical characteristics of the module are tested and studied. The robot consists of six SMA actuator modules, and was capable of realizing multi-pattern and flexible spatial swimming motions based on a central pattern generators (CPG) network control method. Finally, several groups of experiments were carried out for different motion modes of the robot, and results of the experiment proved the effectiveness of the control method

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期：2018-03-27
基金项目：国家自然科学基金资助项目（61773358,51705495,61375095）作者简介：储诚中 （1992-），男，安徽安庆人， 硕士研究生，研究方向为仿生机器人；董二宝（1982-），男，内蒙古呼和浩特人，副教授，硕士研究生导师，研究方向为智能机器人；金虎 （1991-），男，安徽滁州人，博士后，研究方向为智能材料与仿生机器人；许旻 （1972-），男，福建晋江人，硕士，讲师，研究方向为机器人机构学与仿生机器人；杨杰 （1946-），男，上海人，教授，博士研究生导师，研究方向为功能材料基础研究与应用、新型驱动技术与智能机械、仿生机器人与智能机器人。
更新日期/Last Update: 2019-10-30