| 双脚步进式微型机器人系统的研究 |
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| 引用本文： | 万德安,刘泳.双脚步进式微型机器人系统的研究[J].同济大学学报(自然科学版),1999,27(4):432-435. |
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| 作者姓名： | 万德安 刘泳 |
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| 作者单位： | 同济大学机械工程系!上海，200092 |
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| 基金项目： | 上海市自然科学基金!9428 |
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| 摘 要： | 模仿人走路的方式，提出一种新的“双脚步进式”微型机器人的进给机构和实现方法，通过对该机器人系统的研制与性能测试，获得了步进精度高，移动范围大，移动速度、方向可调等良好效果。
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| 关 键 词： | 微机机器人 双脚步进式 机器人系统 |
Study of Micro - robot System Walking with a Pair of Feet |
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| Wan Dean,Liu Yong.Study of Micro - robot System Walking with a Pair of Feet[J].Journal of Tongji University(Natural Science),1999,27(4):432-435. |
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| Authors: | Wan Dean Liu Yong |
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| Abstract: | This paper presents the design and the process of making of a new ndcro - robot to feed continuously over a long stroke by the micro - deformaion of piezoelectric actuators. Because the actuation is similar to walking pattern of human being, it is' namd "walking with a pair of feet". The use of this way ensures the new mechanism to feed smoothly and continuously over a long shoke. The experiment to the mechanism confirms that the actuation is smooth ly, continuously, and with high accuracy. At the same time, the feed directin can be adjusted. |
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| Keywords: | Micro - robot Piezoelectric actuators Walking with a pair of feet |
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