以形狀記憶合金驅動之仿生機械蟲研製

Research and Development of a Biomorphic Robot Driven by Shape Memory Alloys

彭欣誼(Hsin-Yi Peng)

指導教授 ： 蕭俊祥

國立臺北科技大學/機電學院/機電整合研究所/碩士(2010年)

https://doi.org/10.6841/NTUT.2010.00320

摘要

近年來機器人技術的迅速發展，機器人研發成果逐步落實到產業與生活需求面。其中，仿生機器人仿造了各種生物的優點，並應用於人類科技的創造與改進。本實驗仿照蚯蚓的運動方式，利用形狀記憶合金(Shape Memory Alloy，簡稱SMA)作為致動器，可應用於狹窄空間的移動勘察。
目前大部分的致動器皆以電磁原理之電磁馬達搭配複雜的機構作為致動基礎，其運作時有噪音，且易受電磁干擾等缺點。形狀記憶合金除了無以上缺點外，還具有體積小、重量輕等特點，因此本實驗選用形狀記憶合金作為致動器。但線型的形狀記憶合金變形量很小，為了改善此缺點，本實驗將形狀記憶合金記憶呈螺旋狀，再利用機構設計分別在X軸與垂直之Y軸各裝上兩條形狀記憶合金輪流驅動做往復運動，來增加一個週期可前進的行程。此外，在頭部我們亦加裝兩條形狀記憶合金作左右彎之驅動。控制訊號。再由介面卡送出脈波後，經由驅動電路把訊號放大，使得形狀記憶合金收縮達到驅動效果。

關鍵字

形狀記憶合金 ； 仿生機器蟲

並列摘要

Thanks to the rapid development of robot technology in recent years, many achievements on the research of robot have been made. The industry and daily life both benefit from the robot technology. Among them, the biomorphic robotics is inspired by the principles of biological systems and can be applied to the improvement on technology. In this study, we use shape memory alloys as actuators to build a biomorphic robot which can imitate the motion of an earthworm. The robot can be used to explore in a narrow space.
At present, most actuator employs electromagnetic motor which is in use with a designed mechanism, resulting in noise and EMI problems when operating. Shape memory alloys not only do not have above-mentioned defects, but also have characteristics such as small in size and light weight. Therefore we choose shape memory alloys as actuators. Because of the small deformation of a wire shape memory alloy, spiral shape memory alloys are selected and installed both on the X axis and Y axis(each axis having two shape memory alloys) to enable the biomorphic robot to do reciprocating motion. By the mechanism we designed, the robot can increase the distance as it moves in a duty cycle. In addition, two shape memory alloys are added to the head for controlling right and left turns. By sending pulses through the I/O card from the controller, the signals are then amplified by a driver to heat the shape memory alloys in order to make the SMA shrink to pull the mechanism to move.

並列關鍵字

Shape Memory Alloy ； Biomorphic Robot

參考文獻

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