900毫克微型机器人自主游动超18分钟，靠形状记忆合金驱动
An Autonomous Subgram SMA-Based Swimmer
- 用微型形状记忆合金线作动力，集成自供能与计算模块
- 最高速度22.4毫米/秒，转向速率14°/秒，轨迹误差均方根6.5°
- 首个具备完整自持功能的亚克级微泳器，适合微型机器人研究者
我们提出Swima，一种重900毫克的仿生微泳器，由两个10毫克高功密度（HWD）驱动器驱动，采用形状记忆合金（SMA）线作为推进装置。通过自研印刷电路板（PCB）与11mAh、3.7V、507毫克的单节锂离子（Li-Ion）电池，实现超过18分钟的自主游泳。该机器人最高速度达22.4毫米/秒（0.56体长/秒），转向速率最高14°/秒，多轮测试中可沿0度航向参考轨迹运行，跟踪误差均方根约6.5°。这是迄今首个实现自供能、自驱动、自计算的亚克级微泳器。
原文摘要 · Abstract (English)
We present the Swima, a bioinspired 900-mg swimmer propelled by two 10-mg high-work-density (HWD) actuators driven by shape-memory alloy (SMA) wires. We integrated onboard power and computation by using a custom-built printed circuit board (PCB) and an 11-mAh 3.7-V 507-mg single-cell lithium-ion (Li-Ion) battery, which in conjunction enable autonomous swimming in excess of 18 min. The Swima can swim at speeds of up to 22.4 mm/s (0.56 Bl/s), achieves turning rates of up to 14°/s, and can follow 0-degree heading reference trajectories with root mean square (RMS) values of tracking errors of about 6.5° across multiple tests. This robot is the first subgram microswimmer with onboard power, actuation, and computation developed to date.
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