迈向水下微型机器人：一种用于水下推进的新型13毫克低功耗SMA驱动器
Progress Towards Submersible Microrobots: A Novel 13-mg Low-Power SMA-Based Actuator for Underwater Propulsion
AI总结：
本文提出一种13毫克低功耗SMA水下微驱动器，通过软结构封装SMA丝被动控制热传递，使水陆功耗均约150毫瓦，为完全自主水下微型机器人奠定基础。
摘要：
我们介绍了一种由形状记忆合金（SMA）丝驱动的新型低功耗13毫克微驱动器，用于水下作业。该装置的开发动机源于近期出现的微型游泳机器人，如FRISHBot、WaterStrider、VLEIBot、VLEIBot+和VLEIBot++。前四种机器人的重量在30至90毫克之间，需要系留连接至电源供电，而最后一个平台是一个810毫克的完全自主系统。这五种机器人由最初为SMALLBug和SMARTI等微型爬行机器人开发的干式SMA微驱动器驱动。如本摘要所示，由于水中的高热传递率，干式SMA驱动器在水下无法高效运行；例如，驱动VLEIBot++的驱动器在干燥空气中以1赫兹频率运行时需要约40毫瓦的平均功率，而在水中以1赫兹频率运行时则需要约900毫瓦的平均功率。相比之下，本摘要中提出的微驱动器在干燥空气和水中以1赫兹频率运行时均消耗约150毫瓦的平均功率；此外，它可以通过在定制印刷电路板（PCB）上实现的简单电力电子器件，直接使用机载电池激励。这一技术突破得益于集成了一种软结构，该结构封装了驱动驱动器的SMA丝，以被动控制热传递速率。本文呈现的结果代表了初步但令人信服的实验证据，表明所提出的驱动方法将能够实现完全自主和可控的水下微型游泳机器人的开发。为实现这一目标，我们将改进当前版本的VLEIBot++，并引入新的仿生水下推进机制。
英文摘要：
We introduce a new low-power 13-mg microactuator driven by shape-memory alloy (SMA) wires for underwater operation. The development of this device was motivated by the recent creation of microswimmers such as the FRISHBot, WaterStrider, VLEIBot, VLEIBot+, and VLEIBot++. The first four of these robots, ranging from 30 to 90 mg, function tethered to an electrical power supply while the last platform is an 810-mg fully autonomous system. These five robots are driven by dry SMA-based microactuators first developed for microrobotic crawlers such as the SMALLBug and SMARTI. As shown in this abstract, dry SMA-based actuators do not operate efficiently under water due to high heat-transfer rates in this medium; for example, the actuators that drive the VLEIBot++ require about 40 mW of average power at 1 Hz in dry air while requiring about 900 mW of average power at 1 Hz in water. In contrast, the microactuator presented in this abstract consumes about 150 mW of average power at 1 Hz in both dry air and water; additionally, it can be excited directly using an onboard battery through simple power electronics implemented on a custom-built printed circuit board (PCB). This technological breakthrough was enabled by the integration of a soft structure that encapsulates the SMA wires that drive the actuator in order to passively control the rates of heat transfer. The results presented here represent preliminary, yet compelling, experimental evidence that the proposed actuation approach will enable the development of fully autonomous and controllable submersible microswimmers. To accomplish this objective, we will evolve the current version of the VLEIBot++ and introduce new bioinspired underwater propulsion mechanisms.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
