文章提出了一种新型偏置两冲程SMA微型驱动器，并在此基础上设计了四足仿生微型机器人，其运动方式类似蠕虫。通过采用创新的四连杆机构仿生足，改变了微型驱动器的输出力方向。分析了新型足部的摩擦自锁原理，得到了自锁条件，确保了微型机器人的可靠前进。详细阐述了蠕虫仿生机器人的驱动原理，并对其运动规律、步进和频率进行了分析。
Abstract：
A new bias two-stroke SMA micro-driver was put forward,a four-legged bionic micro-robot which moved like an inchworm was designed in the foundation of the actuator.A new bionic foot based
on a four-linkage mechanism was advanced,the output force direction of the micro-driver was changed by using the new feet.The friction self-locking principle of the new feet
was analyzed and conditions for friction self-locking of the new micro-feet was
obtained,the forward movement of the micro-robot was achieved reliably.The driving principle of inchworm bionic-robot was expounded.The motion regular and step and frequency
of inchworm-robot were analyzed.
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