中文摘要：

为了克服现有爬壁机器人负压吸附装置不易微小型化的缺点,在归纳生物负压吸附器官结构特点的基础上,采用新型功能材料形状记忆合金（SMA）作为驱动器设计了一种仿生吸盘.基于SMA材料本构关系、弹性板变形理论和理想气体状态方程,建立了该吸盘的负压产生模型,并用Matlab/Simulink对负压产生过程进行了仿真分析.结果表明,在SMA驱动电流为4.75 A时,吸盘内的稳态负压可达14 kPa,并且该吸盘体积小、无噪声,可作为微型爬壁机器人吸附装置.

英文摘要：

Negative pressure suction mechanisms of wall climbing robots are not easy to miniaturize. To overcome the shortcoming, a kind of bio-inspired suction cup actuated by SMA was designed based on summarizing characteristics of biologic suction apparatuses. Considering SMA＇s constitutive model, elastic plate＇s deflection and ideal gas law, a negative pressure generating model of the suction cup was built, and the model was realized on Matlab/Simulink platform. At last, experiments were done to validate the model, and the results indicate that the stable negative pressure in the suction cup, which has little volume and noise, can achieve 14 kPa when the actuating current of SMA spring is 4.75A, and the suction cup can be used as a suction mechanism for a miniature wall climbing robot.