一种用于微型机器人的新型10 mg基于SMA的快速双形态执行器
A New 10-mg SMA-Based Fast Bimorph Actuator for Microrobotics
AI总结：
提出一种重10 mg的基于SMA前馈控制的双形态执行器，其工作带宽约20 Hz，并基于该执行器开发了仅重30 mg的仿鱼微型游泳机器人FRISSHBot，验证了其在微型机器人领域的适用性。
摘要：
我们提出了一种用于微型机器人应用的新型毫米级双形态执行器，由前馈控制的形状记忆合金（SMA）丝驱动。该设备重10 mg，长14 mm，体积为4.8 mm3，这使其成为迄今为止为微型机器人开发的重量最轻、体积最小的全功能基于SMA的双形态执行器。实验测量的工作带宽约为20 Hz，单形态和双形态的最大低频位移输出分别约为3.5和7 mm。为了测试并展示该执行器在微型机器人中的功能与适用性，我们开发了鱼带启发的小型游泳谐波机器人（FRISSHBot）。FRISSHBot粗略借鉴了鲹形目鱼类，利用流固耦合（FSI）现象向前推进，重30 mg，长34 mm，工作频率高达4 Hz，游泳速度高达3.06 mm/s（0.09 Bl/s）。该机器人是迄今为止开发的最轻、最小的带有板载驱动的游泳机器人。
英文摘要：
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.
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。
