BIOMIMETIC WALKING MICRO-ROBOT

The invention relates to a biomimetic walking micro-robot, which uses threads of an alloy with the shape memory, for legs lifting-lowering, and backwards-forwards moving the same, in order to move the micro-robot. According to the invention, the micro-robot consists of a central body (1), whereon there are mounted six mechanisms, which form some legs, each leg having a kinematic element (2), integral with a gin (15) of a radius Rand connected, through an active kinematic couple (A), to the central body (1), a kinematic element (3), integral with another gin (16) of a radius Rand connected to the first element (2) by means of another active kinematic couple (B), an element (4) which is connected to the other kinematic element (3) through a passive kinematic couple (D), coming in contact with the first element (2) by means of another upper kinematic couple (C), another kinematic element (5), connected to the fourth element (4) through another kinematic couple (E) actuated by some elastic elements (13 and 14), which provide the vertical compliance of the leg, the actuation, in both senses, of the kinematic couple (A) being provided by some threads (6 and 7) with the shape memory, said threads being stressed by some elastic elements (8 and 9), which also provide the horizontal compliance of the leg, the couple (B) being actuated, in the sense of the leg lowering, by a thread (10), and in a reverse sense, by an elastic element (11), the kinematic elements (4 and 2) being maintained in contact by an elastic element (12). Invenţia se referă la un microrobot păşitor biomimetic, ce utilizează fire dintr-un aliaj cu memoria formei, pentru ridicarea-coborârea picioarelor, respectiv, pentru deplasarea către înainte-înapoi a acestora, în scopul deplasării microrobotului. Microrobotul conform invenţiei este alcătuit dintr-un corp (1) central, pe care sunt montate şase mecanisme, care constituie nişte picioare, fiecare picior având un element (2) cinematic solidar cu o fulie (15) de rază Rşi legat, printr-o cuplă (A) cinematică activă, la corpul (1) central, un element (3) cinematic solidar cu o altă fulie (16) de rază Rşi conectat la primul element (2), prin intermediul unei alte cuple (B) cinematice active, un element (4) care este legat la celălalt element (3) cinematic printr-o cuplă (D) cinematică pasivă, ajungând în contact cu primul element (2) printr-o altă cuplă (C) cinematică superioară, un alt element (5) cinematic, legat cu al patrulea element (4) printr-o al