[1] Yu Huitao, Ma Peisun, He Dongqing,. Motion mechanism and gait planning of a wheeled micro robot [J]. Journal of Southeast University (English Edition), 2006, 22 (2): 191-195. [doi:10.3969/j.issn.1003-7985.2006.02.010]

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Motion mechanism and gait planning of a wheeled micro robot()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

22

Issue:

2006 2

Page:

191-195

Research Field:

Automation

Publishing date:

2006-06-30

Info

Title:

Motion mechanism and gait planning of a wheeled micro robot

Author(s):

Yu Huitao;  Ma Peisun;  He Dongqing

Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200030, China

Keywords:

micro robot;  shape memory alloy actuator;  wheeled;  gait planning

PACS:

TP249

DOI:

10.3969/j.issn.1003-7985.2006.02.010

Abstract:

Based on a novel shape memory alloy(SMA)actuator, a micro worming robot is presented.The robot adopts a wheeled moving mechanism.The principle of the robot’s enlarged pace is introduced, and the structure and motion mechanism of the SMA actuator and the wheeled moving mechanism are discussed.The gait about the robot’s rectilinear movement and turning movement is also planned.Under the effect of the eccentric wheel self-locking mechanisms and changing-direction mechanisms, the robot can move forward and backward, and turn actively, which overcomes the disadvantages of the traditional SMA micro robots to a certain extent.Furthermore, some experiments on the heating current of the SMA actuator and the robot’s motion capability are carried out.

References:

[1] Warith M A, Kennedy K, Reitsma R, et al.Design aspects of shape memory actuators [J]. Mechatronics, 1998, 8(6):635-656.
[2] Tu K Y, Lee T T, Wang C H, et al.Design of fuzzy walking pattern(FWP)for a shape memory alloy(SMA)biped robot [J].Robotica, 1998, 17(4):373-382.
[3] Li Mingdong, Xi Handa, Chu Jindi, et al.A micro/miniature six legged robot driven by SMA wires [J].Journal of Shanghai Jiaotong University, 2000, 34(10):1428-1432.(in Chinese)
[4] Lee Y P, Kim B, Lee M G, et al.Locomotive mechanism design and fabrication of biomimetic micro robot using shape memory alloy [A].In:Proceedings of the 2004 IEEE International Conference on Robotics and Automation[C].New Orleans, 2004.5007-5012.
[5] Shigeo M, Kazuhiro A, Keisuke Y, et al.Active endoscope with SMA(shape memory alloy)coil springs [A].In:Proceedings of IEEE Micro Electro Mechanical Systems (MEMS)[C].San Diego, 1996.290-295.
[6] Anthierens C, Libersa C, Touaibia M, et al.Micro robots dedicated to small diameter canalization exploration [A].In:Proceedings of IEEE International Conference on Intelligent Robots and Systems[C].Takamatsu, 2000.480-485.
[7] Yang Jie, Nakamura Yoshihiko, Wu Yuehua, et al.Medical micro robot—SMA endoscope system and laparoscopic surgery forceps [J].Journal of University of Science and Technology of China, 1996, 26(4):444-449.(in Chinese)
[8] Yang Jie, Wu Yuehua.Shape memory alloy and application [M].Hefei:University of Science and Technology of China Press, 1993.194-196.(in Chinese)

Memo

Memo:

Biographies: Yu Huitao(1976—), male, graduate;Ma Peisun(corresponding author), male, professor, psma@sjtu.edu.cn.

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