Fast Control of Negative Pressure Response of a Bio-inspired Suction Cup Actuated by Shape Memory Alloy

• Published in: 东华大学学报（英文版） Vol. 27; no. 6; pp. 830 - 834
• Main Author: WU Ming-hui HU Bing-shan WANG Li-wen FU Zhuang ZHAO Yan-zheng
• Format: Journal Article
• Language: English
• Published: Engineering Research Center for Complex Track Processing Technology and Equipment,Ministry of Education,Xiangtan University,Xiangtan 411105,China 2010; State Key Laboratory of Mechanical System and Vibration,Ministry of Education,Shanghai Jiaotong University,Shanghai 200240,China%State Key Laboratory of Mechanical System and Vibration,Ministry of Education,Shanghai Jiaotong University,Shanghai 200240,China%Aviation Ground Special Equipments Research Base,Civil Aviation University of China,Tianjin 300300,China
• Subjects: suction cup; shape memory alloy (SMA); fast control; wall climbing robot
• ISSN: 1672-5220

A bio-inspired suction cup actuated by shape memory alloy（SMA）for miniature wall climbing robots is developed based on studying characteristics of biological suction apparatus.Some fast control strategies are introduced to improve negative pressure response.Theoretic model of the suction cup is built,and simulation and experiments results indicate the effectiveness of the fast control strategies.The largest negative pressure of the suction cup can reach 14 000 Pa,and its generating and cancelling just need 5 s.Research results indicate the suction cup can be used as an adhesion mechanism for miniature wall climbing robots.