Micro Drive And Structure Design Of Micro Crawling Robot

Micro-robotshave been widely used in many fields,such as space exploration,hazardous environment operation and medical diseasedetection.Amongthem,the micro peristaltic robot is more suitable for winding into narrow and rugged workplaces,and has incomparable advantages over the traditional wheel-drive and leg-drive robot systems.It has good working characteristics in terms of stability,rugged terrain operation ability,and super-redundancy ability.The traditional SMA peristaltic robot has the disadvantages of small step distance,low speed and poor load capacity.Aiming at the above problems,this paper designs a peristaltic robot based on SMA.In this paper,the actuation principle of shape memory alloy is analyzed,the SMA thermodynamic model is established,and the SMA actuator is further designed and fabricated.Using INchworm as the biomimetic object,the design requirements of miniature crawling robot are proposed by analyzing its motion mechanism and the overall concept design of the robot is carried out.Then,the movement force of the designed miniature crawling robot is further analyzed,and its gait is simulated by ANSYS software.At the same time,in order to study the motion law and control law of the miniature crawling robot,this paper designs the control circuit of the robot and puts forward the corresponding control system.Through simulation,it is preliminarily verified that the proposed control system can control the motion of SMA actuator and miniature crawling robot by modulating programmable input signal at different frequencies.Finally,a prototype of miniature crawling robot inspired by Inchworm was made in this paper,and the shape memory alloy actuator was tested after the corresponding experimental test system was built.It was verified that the designed actuator could respond well to the external voltage changes,and it had high controllability.On this basis,in this paper,the micro crawling robot for the movement and load capacity test machine,through the analysis of the robot under different driving frequencies crawling movement effect,concluded in this paper,the design of the linear motion of the miniature creeping robot can be up to 4 mm/s fastest,its load capacity can reach 6 times their own weight.