一种新型谐振式微小型机器人移动机构  

Locomotion Mechanism of a Novel Resonant Microrobot

作　　者：李伟达[1] 孙立宁[1] 蒋振宇[1] 郭伟[1] 王鹏飞[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080

出　　处：《纳米技术与精密工程》2009年第5期413-418,共6页Nanotechnology and Precision Engineering

基　　金：国家高技术研究发展(863)计划项目(2008AA04Z211);国家自然科学基金资助项目(60675038)

摘　　要：微小型机器人在微机电系统组装、生物工程、光学工程等领域有着广阔的应用前景,但传统移动机构难以满足其特殊作业需求.针对这一矛盾,提出了一种谐振式微小型移动机构.依据分割设计法的思想进行了谐振足设计,并建立了其动力学方程.在动力学方程的基础上进行了致动机理分析,发现足端与地面碰撞产生的摩擦力积分与时间近似呈线性关系是谐振足微观上不规则振动具有宏观上稳定的驱动效果的原因.实验样机在10 V电压驱动下速度可达374 mm/s,运动分辨力为1.24μm,具有较高的移动速度和运动分辨力,可以极大地提高微小型机器人的运动性能.Microrobots have lots of practical applications,in such fields as handling and assembly of micro electro mechanical system(MEMS),bio-engineering,and optical engineering.However,traditional locomotion mechanisms cannot meet the requirements of these special tasks.Hence,a novel micro locomotion mechanism was presented.A resonant leg was designed based on spilt design method and its dynamic model was developed.Based on the dynamic model,the driving principle of the mechanism was analyzed.Analysis results show that the linear relationship between time and the integral of the friction force generated by impact against ground is the reason why the atactic vibration of the resonant leg in micro-scale has steady driving effect in macro-scale.Experimental results show that the prototype achieves a driving velocity of 374 mm/s and a resolution of 1.24 μm with the operating voltage of 10 V.The locomotion mechanism which has a high driving velocity with a high resolution can greatly improve the driving performance of the micro mobile robots.

关 键 词：微型机器人 谐振 压电陶瓷 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]