基于形狀記憶合金的仿生微型濕吸機(jī)器人噴液機(jī)構(gòu)研究和設(shè)計(jì).pdf

1、同濟(jì)大學(xué)電子信息工程學(xué)院碩士學(xué)位論文基于形狀記憶合金的仿生微型濕吸機(jī)器人噴液機(jī)構(gòu)研究和設(shè)計(jì)姓名：劉振申請(qǐng)學(xué)位級(jí)別：碩士專(zhuān)業(yè)：控制理論與控制工程指導(dǎo)教師：何斌20090301AbstractABSTRACTManyinsects，likeants，cracketsandflies，canlocomoteonwallsbyadhesivepadsonfeetThiscapacityresultsfromtheinteractionofthe

2、secretion，complexmechanicalsystemsandbiologicalsystemsThereseachaboutthethewet—adhesioninspiredrobotintroducedinthisarticleisinspectedbytheabilitymotionedaboveThesystemofmicrosprayisthekeycomponentofthewetadhesioninspire

3、drobotandthebasisofproducingaconsiderablewetadhesiveforceThemechanismofliquidjetmakesupofitsmainpartAnewdesignofmechanismofliquidjetforbionicwet—adhesionclimbingrobotisproposedinthispaperThematerialofSMAisusedinthismecha

4、nismasamainpartInthisPaperthekeyparametersofmeasurementforSMAspringwasfirstlyc∞ulatedbytheeaculationtheoriesofSMAspringAndthenwedesignedacustomizedexperimentequipmenttotesttheperformancesofSMAspingThedatagotintheexperime

5、ntshowthefeasibilityofusingthismaterialtodevelopthemechanismofliquidjetinOurprojectSecondlythreekeycomponentsofthesystemweredesignedandintrudoced蠲amainpartofthisarticleAllofthemusedtheSMAspringasadriverincludingacontroll

6、ablevalve，aliquidjetdrivercomponentandacomponentforflowingwaypickingThecontrollablevalvecanopenorclosethefluidwayAndtheliquidCanbeabsorbedfromthewaterpoolandjetoutbythetheliquidjetdrivercomponentwhichworkslikeawaterpumpT

7、hewaysoffluidalsocanbecontrolledbythecomponentforflowingwaypickingFinallyfourschemesofmicro—spraysystemforHexapodRobotareproposedaccordingtothedesignofthreecomponentsintroducedaboveandthefeatureoftheHexapodRobotWealsoana