| 泳动式微型管道机器人的设计及运动分析 |
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| 引用本文： | 王科俊,任思璟.泳动式微型管道机器人的设计及运动分析[J].黑龙江科技学院学报,2008,18(1):11-13. |
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| 作者姓名： | 王科俊 任思璟 |
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| 作者单位： | 1. 哈尔滨工程大学,自动化学院,哈尔滨,150001
2. 哈尔滨工程大学,自动化学院,哈尔滨,150001;黑龙江科技学院,电气与住处工程学院,哈尔滨,150027 |
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| 摘 要： | 以NdFeB磁铁为驱动器设计了仿生游动微型机器人.其作业原理是通过改变时变振荡磁场的驱动频率,控制嵌入机器人头部NdFeB的运动,时变振荡磁场能转换成机器人头部摆动的机械能带动铜薄膜尾翼产生波动,进而与液体耦合产生推力控制机器人运动.最后分析了尾翼的频率方程和振型函数新的解析表达式.
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| 关 键 词： | 微型机器人 NdFeB 仿生游动 |
| 文章编号： | 1671-0118(2008)01-0011-03 |
| 修稿时间： | 2007年12月12 |
Design and motion analysis of swimming micro-pipe robot |
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| WANG Kejun,REN Sijing.Design and motion analysis of swimming micro-pipe robot[J].Journal of Heilongjiang Institute of Science and Technology,2008,18(1):11-13. |
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| Authors: | WANG Kejun REN Sijing |
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| Institution: | WANG Kejun1,REN Sijing1,2(1.College of Automation,Harbin Engineering University,Harbin 150001,China,2.College of Electrical , Information Engineering,Heilongjiang Institute of Science , Technology,Harbin 150027,China) |
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| Abstract: | The in-pipe moving micro robot represents an important research area in the field of micro-robot.The paper highlights a micro bionic swimming robot based on NdFeB magnet.The robot operates on the principle which involves controlling the movement of the NdFeB embedded in its head,and converting time-varied magnetic energy into mechanical energy of its head vibration,which actuates the vibration of copper film tail fin and coupling with liquid to produce propulsive force to control its movement when time vari... |
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| Keywords: | micro moving robot NdFeB bionic swimming |
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