Finger-sized climbing robot using artificial proleg
Finger-sized climbing robot using artificial proleg
复制标题
手指大小的人工Proleg攀爬机器人
DOI：
10.1109/biorob.2010.5628000
复制
发表时间：
2010
期刊：
影响因子：
--
通讯作者：
Kyu
中科院分区：
文献类型：
--
作者：
Je;Sungmin An;Kyu
攀爬是机器人研究的主要课题之一。我们提出了一个手指大小的木材攀爬机器人与脊椎为基础的夹具。这个机器人的灵感来自尺蠖（Ascotis Selenaria），它可以通过简单的欧米茄形弯曲运动在树上爬行和攀爬。这种简单的运动使机器人更小，更容易控制。该机器人采用智能复合微结构（SCM）和形状记忆合金弹簧作动器。我们提出了一个特殊的模式设计的SCM产生一个二维的转向运动，爬上垂直的木材表面。与在地面上爬行相比，克服重力爬墙需要更大的驱动力。本文介绍了“爬动式欧姆博特”的设计与制作，以及SMA弹簧作动器的合理选用和提高作动性能的方法。我们的研究结果表明，Omegabot可以爬行，转身，爬在树上。该机器人可用于搜索和救援，或在只有小型机器人才能进入的区域收集有用信息。
Climbing is one of the major subjects in robotics research. We present a finger-sized wood climbing robot with a spine-based gripper. This robot is inspired by the inchworm (Ascotis Selenaria) which can crawl and climb on trees with a simple omega-shaped bending motion. This simple locomotion enables the robot to be smaller and more easily controlled. The robot is built with smart composite microstructures (SCM) and shape memory alloy spring actuators. We suggest a special pattern design for the SCM to generate a two-dimensional turning motion and climb a vertical wood surface. Compared with crawling on the ground, climbing a wall against gravity requires larger actuation force. This paper describes the design and fabrication of “Climbing Omegabot,” and a proper selection of SMA spring actuators with a method for improving actuation performance. Our results demonstrate that Omegabot can crawl, turn, and climb on a tree. This robot can be used for search and rescue, or gathering useful information in areas where only small-scale robots can penetrate.