| Summary: | 碩士 === 國立臺北科技大學 === 機電整合研究所 === 98 === 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.
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