| 摘要 |
<p>The invention relates to a small size hexapod walking robot used for inspecting very narrow spaces, inaccessible to man or other vehicles, said robot moving noiselessly. According to the invention, the robot has a central body () whereon there are mounted six legs, each leg consisting of two kinematic elements () for the lifting-descending motion and the rotation motion thereof in horizontal plane, respectively, for the purpose of moving the leg by a step or of returning the same to the initial position, the lifting-descending motion of each leg being achieved by a shape-memory alloy wire () wound at one end onto a gin () integral with the first kinematic element (), and the rotation motion of the leg in horizontal plane being ensured by another shape-memory alloy wire () wound at an end on another gin () integral with the second kinematic element (), the wires () being tensioned by some elastic rubber threads ().</p> |
