10毫克超轻形状记忆合金驱动微型机器人，实现高速灵活运动。
A New 10-mg SMA-Based Fast Bimorph Actuator for Microrobotics
- 采用前馈控制的SMA丝驱动双层结构，实现微型化与高响应。
- 最大位移达7毫米，工作频率高达20赫兹，适合快速运动。
- 适用于微尺度水下机器人，尤其适合仿鱼游动场景。
我们提出一种新型毫米级微型双层执行器，用于微机器人应用，由前馈控制的形状记忆合金（SMA）丝驱动。该装置重10毫克，长14毫米，体积仅4.8毫米³，是目前最轻、最小的全功能SMA基双层执行器。实验测得工作带宽约为20赫兹，单层和双层结构在低频下的最大位移分别为3.5毫米和7毫米。为验证其功能与适用性，我们开发了受鱼形启发的小型游泳谐波机器人FRISSHBot。该机器人受鲹形鱼类启发，利用流固相互作用（FSI）实现推进，重30毫克，长34毫米，最高运行频率达4赫兹，最高速度达3.06毫米/秒（0.09体长/秒）。这是迄今最轻、最小的自带驱动微游泳机器人。
原文摘要 · Abstract (English)
We present a new millimeter-scale bimorph actuator for microrobotic applications, driven by feedforward controlled shape-memory alloy (SMA) wires. The device weighs 10 mg, measures 14 mm in length, and occupies a volume of 4.8 mm3, which makes it the lightest and smallest fully functional SMA-based bimorph actuator for microrobotics developed to date. The experimentally measured operational bandwidth is on the order of 20 Hz, and the unimorph and bimorph maximum low-frequency displacement outputs are on the order of 3.5 and 7 mm, respectively. To test and demonstrate the functionality and suitability of the actuator for microrobotics, we developed the Fish-&-Ribbon-Inspired Small Swimming Harmonic roBot (FRISSHBot). Loosely inspired by carangiformes, the FRISSHBot leverages fluid-structure interaction (FSI) phenomena to propel itself forward, weighs 30 mg, measures 34 mm in length, operates at frequencies of up to 4 Hz, and swims at speeds of up to 3.06 mm/s (0.09 Bl/s). This robot is the lightest and smallest swimmer with onboard actuation developed to date.
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