论文部分内容阅读
针对微小空间、微小管道实时探测的要求，研制成电磁驱动微小型管道机器人样机，对样机的移动机理及动作过程作了具体分析，并对影响机器人运行速度及步距大小的几个因素（如激励电压的幅值和频率、机器人驱动机构与地面的摩擦情况等）进行了分析讨论．最后给出了微小型管道机器人在不同材质表面上驱动运动的实验结果．试验结果表明，电磁驱动微小型机器人不仅能在上述材质表面上完成各项设定操作，并有足够的驱动力输出．
In order to meet the requirements of real-time detection of tiny pipelines and tiny pipes, a prototype of micro-pipeline driven robot was developed. The mechanism of movement and the movement process of the prototype were analyzed. Several factors affecting the running speed and step size of the robot Excitation voltage amplitude and frequency, the robot drive mechanism and the ground friction, etc.) were analyzed and discussed. Finally, the experimental results of micro-pipe robot driving motion on different material surfaces are given. The experimental results show that the electromagnetic micro-robot can not only perform the setting operation on the surface of the above material, but also have enough driving force output.