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中文摘要: 虽然从生物学角度来说,蚯蚓的波浪式运动机制已经相当清楚,但在小尺寸下人工蚯蚓的实现仍然是极具挑战性的
工作。采用记忆合金材料(SMA) ,设计实现了用于仿生蚯蚓机器人的执行器,并通过该执行器的动作循环模仿,实现了蚯蚓
的波浪式运动。实现的人工蚯蚓共有四单元,每一单元都有可独立驱动的执行器。执行器由一根或三根SMA 弹簧构成,其
波动式运动的最高频率为0. 6 Hz。每一单元人工蚯蚓,都被覆特定形状的软硅胶皮,该硅胶皮提供了SMA 执行器的对抗力,
同时也是安装微型腿的平台,从而进一步提高了人工蚯蚓的运动效率。初步的测试显示该执行器工作有效,人工蚯蚓的运动
速度可达2. 5mm/ s ,与真实的蚯蚓运动速度相近。
中文关键词: 仿生机器人,SMA 执行器,波动式运动
Abstract:It is clear t he undulatory movement p rinciple of eart hworm thanks to the biological research ,
however t he replication of biological ones in real size is still limited. The SMA spring act uator s for biomi2
metic eart hworm are fabricated , and the artificial eart hworm can undulatory move quite effectively t hrough
elongation and cont raction of t he act uator s. The realized artificial eart hworm consist s of 4 modules wit h in2
dependently SMA act uator s. Act uators consist s of 1 or 3 SMA springs , and t he maximum running f re2
quency is near 0. 6 Hz. Every module is covered wit h silicone shell on which microlegs are also developed ,
which enlarge the differential f riction effect and improve the moving speed of artificial eart hworm. Prelimi2
nary test demonst rates t he maximum speed can be up to 2. 5 mm/ s , it is near to t he real ones.
文章编号：cg050346 中图分类号： 文献标志码：
基金项目:
L IU Wei2t i ng FA N G X i ang2sheng C H EN Yu2quan
Biosnsor N ational S pecial L ab , Dept. of B iomedical Engineering , Zhej iang Universit y , Hangz hou 310027 , China
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