CN102114880B - Shape memory alloy spring-driven jumping robot - Google Patents
Shape memory alloy spring-driven jumping robot Download PDFInfo
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- CN102114880B CN102114880B CN201110052846A CN201110052846A CN102114880B CN 102114880 B CN102114880 B CN 102114880B CN 201110052846 A CN201110052846 A CN 201110052846A CN 201110052846 A CN201110052846 A CN 201110052846A CN 102114880 B CN102114880 B CN 102114880B
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Abstract
The invention relates to a shape memory alloy spring-driven jumping robot which comprises a front arm, an energy storage mechanism, an energy conversion mechanism, a rear arm, a trigger mechanism, a control system, a battery and an angle adjusting column, wherein the front arm is formed by fixedly connecting a first connection block, a first bar and a second bar; the energy storage mechanism comprises a pair of torsion springs which are coaxially and symmetrically arranged in parallel, or parallel two rows of torsion springs, or reeds symmetrically arranged in the horizontal direction; the front exposed end and the rear exposed end of the energy storage mechanism are inserted on the front arm and the rear arm; the rear arm is formed by fixedly connecting a second connection block, a third bar, a fourth bar and a third connection block; the trigger mechanism is formed by welding a trigger torsion spring, a second hanger and a fourth connection block, and is fixed at the rear part of the rear arm; the control system comprises a power supply part, a single chip microcomputer part and a driving part; and the angle adjusting column is connected at the tail end of the rear arm through a pin shaft. The jumping robot has a simple structure and stable performances, and overcomes the disadvantages in the prior art that the power-to-weight ratio is small, the noise and the pollution are generated during driving and the driving voltage is higher.
Description
Technical field
The invention belongs to the Robotics field, the spring robot that particularly a kind of shape memory alloy spring drives.
Background technology
At present, the mobile robot mainly adopts two kinds of mode of motion: take turns or the crawler type driving simulating crawling or walking more.Yet there is common defective in these two kinds of mobile robots: be difficult to disposable bigger obstacle or the irrigation canals and ditches jumped over.Increasingly extensive along with the robot application scope; The working environment that robot faces is also more and more abominable; Such as archaeology detection, military surveillance, counterterrorist activity etc., in such environment, obviously require robot must have stronger landform and adapt to and the autokinetic movement ability.Mobile robot with respect to above two kinds of mode of motion; The spring robot can successfully be jumped over and be higher than the obstacle of self size several times; For example 7 gram spring robots of Lausanne, SUI university research in 2009 can jump and be equivalent to the height of 27 times of oneself heights, therefore more can be fit to complicated and uncertain environment.
The machine in normal service National People's Congress adopts driven by servomotor more, and its power to weight ratio is little, and needs speed reduction gearing, and the robot volume increases, structure is heavy thereby make, and the parts accuracy requirement is high; Simultaneously, motor-driven exists noise and pollution, and driving voltage is also higher, and is very unfavorable to microminiaturization and family and service industry development for robot.
Summary of the invention
For overcoming the shortcomings and deficiencies of existing spring robot, the spring robot that the present invention provides a kind of shape memory alloy spring simple in structure, stable performance to drive.
Spring robot provided by the invention comprises forearm, accumulating mechanism, energy transfer mechanism, postbrachium, trigger mechanism, control system, battery and angle modulation post; Forearm is by first contiguous block, first rod member and second rod member is affixed forms, and first rod member and second rod member are arranged in parallel and are fixed on first contiguous block; Accumulating mechanism is made up of the torsion spring of a pair of coaxial parallel symmetric offset spread or parallel biserial torsion spring or symmetrical reed, and accumulating mechanism is arranged between forearm and the postbrachium; Postbrachium is by second contiguous block, the 3rd rod member, the 4th rod member and the 3rd contiguous block is affixed forms, and acutangulates between the 3rd rod member and the 4th rod member, is fixed with stabilizer rod on second contiguous block; Trigger mechanism is welded by triggering torsion spring, second hook and the 4th contiguous block, and the 4th contiguous block is fixed on and triggers the torsion spring head, and second hook is fixed on and triggers on the torsion spring sponson, and trigger mechanism is fixed on the postbrachium rear portion; Control system is made up of power circuit part, single chip circuit partial sum driving circuit section; The angle modulation post is connected the end of postbrachium through bearing pin; Energy transfer mechanism is set to rotating lever formula energy transfer mechanism, slide block type energy transfer mechanism and dual spring formula energy transfer mechanism.
Described rotating lever formula energy transfer mechanism is made up of first memory alloy spring, second memory alloy spring, the 3rd memory alloy spring, rotating lever, first hook and first bearing pin; First hook is fixed on the rotating lever; The rotating lever two ends are provided with connecting bore and insert in the forearm; Captive joint with forearm through first bearing pin; Be connected first memory alloy spring between first contiguous block of forearm and the rotating lever left end connecting bore, be connected second memory alloy spring between first contiguous block of forearm and the rotating lever right-hand member connecting bore, be connected the 3rd memory alloy spring between the 4th contiguous block of trigger mechanism and second contiguous block of postbrachium.
Described slide block type energy transfer mechanism is made up of slide block, the 3rd memory alloy spring, the 4th memory alloy spring, the 5th memory alloy spring, the first round trip memory alloy spring and the 5th rod member; Slide block set is contained in the forearm middle part; Slide block is made up of first cylinder, second cylinder and connecting panel; First cylinder, second cylinder insert respectively in first rod member, second rod member of forearm; Connecting panel is between first cylinder and second cylinder and be provided with three holes; Be connected the 4th memory alloy spring between first contiguous block of preceding hole and forearm, be connected the first round trip memory alloy spring between second hook of interstitial hole and trigger mechanism, the 5th rod member is inserted into the forearm bottom; Be connected the 5th memory alloy spring between the metapore of connecting panel and the 5th rod member, be connected the 3rd memory alloy spring between the 4th contiguous block of trigger mechanism and second contiguous block of postbrachium.
Described dual spring formula energy transfer mechanism is made up of the 3rd memory alloy spring and the second round trip memory alloy spring; Be connected the second round trip memory alloy spring between second hook of first contiguous block of forearm and trigger mechanism, be connected the 3rd memory alloy spring between the 4th contiguous block of trigger mechanism and second contiguous block of postbrachium.
The invention has the beneficial effects as follows:
1, driving and trigger mechanism adopt memory alloy spring, and lightweight is easy, and the spring robot that has remedied existing employing electric power control to a certain extent drives with the flip flop equipment power to weight ratio is little, have noise and pollution during driving, driving voltage is than higher defective.
2, set up slewing arrangement and combine with memory alloy spring to use, simple in structure, stable performance makes the spring robot realize that circulation repeatedly works.
3, angulation posts is processed by elastomeric material, can also effectively improve the jumping height of spring robot when regulating spring robot initial spring angle.
Description of drawings
Fig. 1 is the integral structure scheme drawing of the embodiment of the invention 1
Fig. 2 is the forearm structural representation of the embodiment of the invention
Fig. 3 is the accumulating mechanism structural representation of the embodiment of the invention
Fig. 4 is the rear arm structure scheme drawing of the embodiment of the invention
Fig. 5 is the trigger mechanism structural representation of the embodiment of the invention
Fig. 6 is the power unit circuit diagram of embodiment of the invention control system
Fig. 7 is the single chip part circuit diagram of embodiment of the invention control system
Fig. 8 is the drive part circuit diagram of embodiment of the invention control system
Fig. 9 is the integral structure scheme drawing of the embodiment of the invention 2
Figure 10 is the slide block structure scheme drawing of the embodiment of the invention 2
The integral structure scheme drawing of Figure 11 embodiment of the invention 3
1. first contiguous blocks among the figure, 2. first rod member, 3. second rod member, 4. first bearing pin, 5. first torsion spring, 6. second torsion spring; 7. rotating lever, 8. control system, 9. battery, 10. first hook, 11. second hooks, 12. the 4th contiguous blocks; 13. the triggering torsion spring, 14. second contiguous blocks, 15. second bearing pins, 16. angle modulation posts, 17. the 3rd rod members; 18. the 4th rod member, 19. the 3rd contiguous blocks, 20. stabilizer rods, 21. first memory alloy springs, 22. second memory alloy springs; 23. the 3rd memory alloy spring, 24. slide blocks, 24a. first cylinder, 24b. second cylinder, 24c. connecting panel; 25. the 5th rod member, 26. the 4th memory alloy springs, 27. the 5th memory alloy springs, 28. first round trip memory alloy springs, 29. second round trip memory alloy springs.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Embodiment 1:
The spring robot that a kind of shape memory alloy spring drives comprises forearm, accumulating mechanism, energy transfer mechanism, postbrachium, trigger mechanism, control system, battery and angle modulation post; Forearm is by first contiguous block 1, first rod member 2 and second rod member, 3 affixed forming, and first rod member 2 and second rod member 3 are arranged in parallel and are fixed on first contiguous block 1; Accumulating mechanism is made up of first torsion spring 5 and second torsion spring 6 of a pair of coaxial parallel symmetric offset spread, and the forward and backward external part of two torsion springs is inserted into respectively on forearm, the postbrachium; Energy transfer mechanism adopts rotating lever formula energy transfer mechanism; Form by first memory alloy spring 21, second memory alloy spring 22, the 3rd memory alloy spring 23, rotating lever 7, first hook, 10 and first bearing pin 4; First hook 10 is fixed on the rotating lever 7; Rotating lever 7 two ends are provided with connecting bore and insert in the forearm; Captive joint with forearm through first bearing pin 4; Be connected first memory alloy spring 21 between first contiguous block 1 of forearm and the rotating lever 7 left end connecting bores, be connected second memory alloy spring 22 between first contiguous block 1 of forearm and the rotating lever 7 right-hand member connecting bores, be connected the 3rd memory alloy spring 23 between the 4th contiguous block 12 of trigger mechanism and second contiguous block 14 of postbrachium; Postbrachium is by second contiguous block 14, the 3rd rod member 17, the 4th rod member 18 and the 3rd contiguous block 19 affixed formation; Second contiguous block 14 and the 3rd contiguous block 19 are processed by light plastic; Acutangulate between the 3rd rod member 17 and the 4th rod member 18, be fixed with stabilizer rod 20 on second contiguous block 19; Trigger mechanism is welded by triggering torsion spring 13, second hook the 11 and the 4th contiguous block 12, and the 4th contiguous block 12 is fixed on and triggers torsion spring 13 heads, and second hook 11 is fixed on and triggers on torsion spring 13 sponsons, and trigger mechanism is fixed on the postbrachium rear portion; Control system 8 is made up of power circuit part, single chip circuit partial sum driving circuit section, and control system 8 is fixed on the position of slewing arrangement near pivot point with battery 9; Angle modulation post 16 is processed by light elastic material, is connected the end of postbrachium through bearing pin, through second bearing pin 15 is inserted different hole on the angle modulation posts 16, regulates the initial spring angle of spring robot.
Embodiment 2:
The spring robot that a kind of shape memory alloy spring drives comprises forearm, accumulating mechanism, energy transfer mechanism, postbrachium, trigger mechanism, control system, battery and angle modulation post; Forearm is by first contiguous block 1, first rod member 2 and second bar, 3 affixed forming, and first rod member 2 and second rod member 3 are arranged in parallel and are fixed on first contiguous block 1; Accumulating mechanism is made up of first torsion spring 5 and second torsion spring 6 of a pair of coaxial parallel symmetric offset spread, and the forward and backward external part of two torsion springs is inserted into respectively on forearm, the postbrachium; Energy transfer mechanism adopts the slide block type energy transfer mechanism; Form by slide block 24, the 3rd memory alloy spring 23, the 4th memory alloy spring 26, the 5th memory alloy spring 27, the first round trip memory alloy spring 28 and the 5th rod member 25; Slide block 24 is sleeved on the forearm middle part; Slide block is made up of the first cylinder 24a, the second cylinder 24b and connecting panel 24c; The first cylinder 24a, the second cylinder 24b insert respectively in first rod member 2, second rod member 3 of forearm, and connecting panel 24c is between the first cylinder 24a and the second cylinder 24b and be provided with three holes, are connected the 4th memory alloy spring 26 between first contiguous block 1 of preceding hole and forearm; Be connected the first round trip memory alloy spring 28 between second hook 11 of interstitial hole and trigger mechanism; The 5th rod member 25 is inserted into the forearm bottom, is connected the 5th memory alloy spring 27 between the metapore of connecting panel 24c and the 5th rod member 25, is connected the 3rd memory alloy spring 23 between the 4th contiguous block 12 of trigger mechanism and second contiguous block 14 of postbrachium; Postbrachium is by second contiguous block 14, the 3rd rod member 17, the 4th rod member 18 and the 3rd contiguous block 19 affixed formation; Second contiguous block 14 and the 3rd contiguous block 19 are processed by light plastic; Acutangulate between the 3rd rod member 17 and the 4th rod member 18, be fixed with stabilizer rod 20 on second contiguous block 19; Trigger mechanism is welded by triggering torsion spring 13, second hook the 11 and the 4th contiguous block 12, and the 4th contiguous block 12 is fixed on and triggers torsion spring 13 heads, and second hook 11 is fixed on and triggers on torsion spring 13 sponsons, and trigger mechanism is fixed on the postbrachium rear portion; Control system 8 is made up of power circuit part, single chip circuit partial sum driving circuit section, and control system 8 is separately fixed on forearm and the postbrachium with battery 9; Angle modulation post 16 is processed by light elastic material, is connected the end of postbrachium through bearing pin, through second bearing pin 15 is inserted different hole on the angle modulation posts 16, regulates the initial spring angle of spring robot.
Embodiment 3:
The spring robot that a kind of shape memory alloy spring drives comprises forearm, accumulating mechanism, energy transfer mechanism, postbrachium, trigger mechanism, control system, battery and angle modulation post; Forearm is by first contiguous block 1, first rod member 2 and second bar, 3 affixed forming, and first rod member 2 and second rod member 3 are arranged in parallel and are fixed on first contiguous block 1; Accumulating mechanism is made up of first torsion spring 5 and second torsion spring 6 of a pair of coaxial parallel symmetric offset spread, and the forward and backward external part of two torsion springs is inserted into respectively on forearm, the postbrachium; Energy transfer mechanism adopts dual spring formula energy transfer mechanism; Form by the 3rd memory alloy spring 23 and the second round trip memory alloy spring 29; Be connected the second round trip memory alloy spring 29 between second hook 11 of first contiguous block 1 of forearm and trigger mechanism, be connected the 3rd memory alloy spring 23 between the 4th contiguous block 12 of trigger mechanism and second contiguous block 14 of postbrachium; Postbrachium is by second contiguous block 14, the 3rd rod member 17, the 4th rod member 18 and the 3rd contiguous block 19 affixed formation; Second contiguous block 14 and the 3rd contiguous block 19 are processed by light plastic; Acutangulate between the 3rd rod member 17 and the 4th rod member 18, be fixed with stabilizer rod 20 on second contiguous block 19; Trigger mechanism is welded by triggering torsion spring 13, second hook the 11 and the 4th contiguous block 12, and the 4th contiguous block 12 is fixed on and triggers torsion spring 13 heads, and second hook 11 is fixed on and triggers on torsion spring 13 sponsons, and trigger mechanism is fixed on the postbrachium rear portion; Said control system 8 is made up of power circuit part, single chip circuit partial sum driving circuit section, and control system 8 is separately fixed on forearm and the postbrachium with battery 9; Angle modulation post 16 is processed by light elastic material, is connected the end of postbrachium through bearing pin, through second bearing pin 15 is inserted different hole on the angle modulation posts 16, regulates the initial spring angle of spring robot.Under the no-load condition, it is 5～6 that the round trip memory alloy spring guarantees to satisfy its length and length ratio of heated condition under the state of cooling.
The shape memory alloy spring that the foregoing description adopts is the ti-ni shape memory alloy spring.
The control system micro controller system of the embodiment of the invention adopts the 8-bit microprocessor MC9S08QD4 of Freescale company, to alleviate spring ROBOT CONTROL system weight as far as possible.Like Fig. 7, Fig. 8, shown in Figure 9, VCC_4.2 links to each other with battery BT is anodal, links to each other with the voltage input end of voltage stabilizing chip REG710_3.3 simultaneously; The voltage output end VCC_3.3 of voltage stabilizing chip links to each other with the 3 pin VDD of micro controller system S08QD4,4 pin VSS ground connection of micro controller system; 1 pin PTA5 of micro controller system is as resetting mouth, and 2 pin PTA4 link to each other with download interface BKGD as downloading mouth, and the program that is used for micro controller system is downloaded and debugging; 5 pin PTA3 of micro controller system link to each other with the signal end SMA3 of control memorial alloy 3 heating; 6 pin PTA2 of micro controller system link to each other with the signal end SMA2 of control memorial alloy 2 heating; 7 pin PTA1 of micro controller system link to each other with the signal end SMA1 of control memorial alloy 1 heating, and 8 pin PTA0 of micro controller system link to each other with the signal end Capture whether detection breaks off relations.
The spring-like movement implementation procedure of embodiment 1 is following:
When 1, supposing initial condition, first hook, 10 and second hook 11 not hook connects, and three memory alloy springs all are in the room temperature free state.Hook connects signal to the detection of control system to linking up with not; Sending instruction makes power supply heat first memory alloy spring 21; First memory alloy spring 21 shrinks and the rotation of driven rotary lever structure thereupon after a period of time, and rotating lever will spur 22 elongations of second memory alloy spring simultaneously.First hook, 10 and second hook, 11 hooks connect when rotational structure rotates to certain position, and resetting finishes;
2, reset after; The detection of control system connects signal to hook; And stop to heat first memory alloy spring 21, and beginning to heat second memory alloy spring 22 and be contracted to the shortlyest to it, the elastic potential energy that second memory alloy spring 22 pulling forearms overcome accumulating mechanism in the contraction process is rotated to postbrachium structure direction; And with energy with the stores of elastic potential energy in accumulating mechanism, first memory alloy spring 21 also falls and is elongated simultaneously.So far, stored spring institute energy requirement in the accumulating mechanism, accumulation of energy finishes;
3, after the accumulation of energy; System stops to heat second memory alloy spring 22, begins to heat the 3rd memory alloy spring 23, the three memory alloy springs 23 and shrinks thereupon; And overcome the elastic potential energy clickwise that triggers torsion spring 13; Part energy also with the stores of elastic potential energy to triggering in the torsion spring 13, when triggering torsion spring 13 and rotating to certain position, 11 unhook of first hook, 10 and second hook.So far, triggering finishes;
4, after the triggering, the spring robot begins under the driving of the stored energy of accumulating mechanism, to realize jump action.The signal that breaks off relations simultaneously unit also to be detected detects the system that feeds back to, and system stops to heat that the 3rd memory alloy spring 23, the three memory alloy springs 23 will be cooled and under the driving that triggers torsion spring 13 stored energy, quickly recover to initial position.The unhook signal passes to system, and system sends instruction and begins to reheat first memory alloy spring 21 and make its contraction, carries out homing action;
So move in circles, realize that robot of the present invention resets-working cycle of accumulation of energy-triggering-spring.
The spring-like movement implementation procedure of embodiment 2 is following:
During work; At first heat the first round trip memory alloy spring 28; The 4th memory alloy spring of heating heating simultaneously 26, the four memory alloy springs 26 shrink on the pulling slide block 24 and slide after 1 second, when the first round trip memory alloy spring 28 is contracted to the most in short-term; The accumulating mechanism accumulation of energy reaches maxim; Control system stops to heat the 4th memory alloy spring 26 and the first round trip memory alloy spring 28, and begins to heat the 3rd memory alloy spring 23 and make it to shrink, until 28 unhook of second hook, 11 and the first round trip memory alloy spring; After the unhook; The spring robot begins realization jump action under the driving of accumulating mechanism institute accumulation of energy, and the signal that breaks off relations simultaneously is passed to control system, and system stops to heat the 3rd memory alloy spring 23; Beginning to heat the 5th memory alloy spring 27 makes it to shrink; And the pulling slide block slides to initial position 24 times, and signal feedback is given control system, and system stops to heat the 5th memory alloy spring 27; After a period of time, the 3rd memory alloy spring 23 and the first round trip memory alloy spring 28 all return to initial condition, and the hook of the first round trip memory alloy spring 28 second hook 11 automatic and trigger mechanism hooks again; Repeat above-mentioned action can realize the bouncing working cycle of the resetting of robot-accumulation of energy-triggering-spring.
The spring-like movement implementation procedure of embodiment 3 is following:
During work; At first heat the second round trip memory alloy spring 29 and make it to be contracted to the shortest, forearm is clickwise thereupon, and the accumulating mechanism accumulation of energy also reaches maxim; Signal feedback is given control system; System stops to heat the second round trip memory alloy spring 29, begins to heat the 3rd memory alloy spring 23 and makes it to shrink, and breaks off relations until second hook, the 11 and second round trip memory alloy spring 29; After the unhook, the spring robot begins realization jump action under the driving of accumulation of energy structure institute accumulation of energy, and the signal that breaks off relations simultaneously is passed to control system, and system stops to heat the 3rd memory alloy spring 23; After a period of time, the 3rd memory alloy spring 23 and the second round trip memory alloy spring 29 all return to initial condition, the hook on the second round trip memory alloy spring 29 automatically with trigger mechanism in second link up with 11 and hook again; Repeat the working cycle that above-mentioned action realizes the resetting of spring robot-accumulation of energy-triggering-spring.
Claims (4)
1. the spring robot that drives of a shape memory alloy spring; Comprise forearm, accumulating mechanism, energy transfer mechanism, postbrachium, trigger mechanism, control system, battery and angle modulation post; It is characterized in that said forearm by first contiguous block, first rod member with second rod member is affixed forms, first rod member and second rod member are arranged in parallel and are fixed on first contiguous block; Said accumulating mechanism is arranged between forearm and the postbrachium, is made up of the torsion spring of a pair of coaxial parallel symmetric offset spread, or is made up of parallel biserial torsion spring, or be made up of symmetrical reed; Said postbrachium is by second contiguous block, the 3rd rod member, the 4th rod member and the 3rd contiguous block is affixed forms, and acutangulates between the 3rd rod member and the 4th rod member, is fixed with stabilizer rod on second contiguous block; Said trigger mechanism is welded by triggering torsion spring, second hook and the 4th contiguous block, and the 4th contiguous block is fixed on and triggers the torsion spring head, and second hook is fixed on and triggers on the torsion spring sponson, and trigger mechanism is fixed on the postbrachium rear portion; Said control system is made up of power circuit part, single chip circuit partial sum driving circuit section; Said angle modulation post is connected the end of postbrachium through bearing pin; Said energy transfer mechanism is set to rotating lever formula energy transfer mechanism, slide block type energy transfer mechanism or dual spring formula energy transfer mechanism.
2. the spring robot that a kind of shape memory alloy spring according to claim 1 drives; It is characterized in that described rotating lever formula energy transfer mechanism is made up of first memory alloy spring, second memory alloy spring, the 3rd memory alloy spring, rotating lever, first hook and first bearing pin; First hook is fixed on the rotating lever; The rotating lever two ends are provided with connecting bore and insert in the forearm; Captive joint with forearm through first bearing pin; Be connected first memory alloy spring between first contiguous block of forearm and the rotating lever left end connecting bore, be connected second memory alloy spring between first contiguous block of forearm and the rotating lever right-hand member connecting bore, be connected the 3rd memory alloy spring between the 4th contiguous block of trigger mechanism and second contiguous block of postbrachium.
3. the spring robot that a kind of shape memory alloy spring according to claim 1 drives; It is characterized in that described slide block type energy transfer mechanism is made up of slide block, the 3rd memory alloy spring, the 4th memory alloy spring, the 5th memory alloy spring, the first round trip memory alloy spring and the 5th rod member; Slide block set is contained in the forearm middle part; Slide block is made up of first cylinder, second cylinder and connecting panel; First cylinder, second cylinder insert respectively in first rod member, second rod member of forearm, and connecting panel is between first cylinder and second cylinder and be provided with three holes, are connected the 4th memory alloy spring between first contiguous block of preceding hole and forearm; Be connected the first round trip memory alloy spring between second hook of interstitial hole and trigger mechanism; The 5th rod member is inserted into the forearm bottom, is connected the 5th memory alloy spring between the metapore of connecting panel and the 5th rod member, is connected the 3rd memory alloy spring between the 4th contiguous block of trigger mechanism and second contiguous block of postbrachium.
4. the spring robot that a kind of shape memory alloy spring according to claim 1 drives; It is characterized in that described dual spring formula energy transfer mechanism is made up of the 3rd memory alloy spring and the second round trip memory alloy spring; Be connected the second round trip memory alloy spring between second hook of first contiguous block of forearm and trigger mechanism, be connected the 3rd memory alloy spring between the 4th contiguous block of trigger mechanism and second contiguous block of postbrachium.
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| CN201110052846A CN102114880B (en) | 2011-03-04 | 2011-03-04 | Shape memory alloy spring-driven jumping robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110052846A CN102114880B (en) | 2011-03-04 | 2011-03-04 | Shape memory alloy spring-driven jumping robot |
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| CN102114880B true CN102114880B (en) | 2012-10-17 |
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| KR101278510B1 (en) | 2011-07-21 | 2013-07-02 | 건국대학교 산학협력단 | A jumping robot using shape memory alloy |
| CN109533120B (en) * | 2018-12-25 | 2020-08-21 | 江西玉祥智能装备制造有限公司 | Self-triggering type heat-avoiding cushion for bicycle |
| CN109909994B (en) * | 2019-04-23 | 2021-01-26 | 重庆大学 | Jumping robot based on SMA drive mode |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003225474A (en) * | 2002-02-05 | 2003-08-12 | Mitsumi Electric Co Ltd | Driving mechanism utilizing shape memory alloy member |
| CN101058036A (en) * | 2007-05-22 | 2007-10-24 | 哈尔滨工程大学 | Bionic locust jumping robot |
| CN101862542A (en) * | 2010-05-27 | 2010-10-20 | 西北工业大学 | Robot simulated jump aid |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20070213841A1 (en) * | 2001-03-30 | 2007-09-13 | Townsend Barry W | Prosthetic foot with tunable performance |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003225474A (en) * | 2002-02-05 | 2003-08-12 | Mitsumi Electric Co Ltd | Driving mechanism utilizing shape memory alloy member |
| CN101058036A (en) * | 2007-05-22 | 2007-10-24 | 哈尔滨工程大学 | Bionic locust jumping robot |
| CN101862542A (en) * | 2010-05-27 | 2010-10-20 | 西北工业大学 | Robot simulated jump aid |
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