一种新型管道微机器人驱动力的理论分析和实验研究  

Theoretical and experimental stude on the driving force of a novel micro-robot in tube

作　　者：姚华平[1] 陈扬枝[1] 邢广权[1] 

机构地区：[1]华南理工大学机械设计及理论研究所,广州510640

出　　处：《现代制造工程》2005年第12期14-17,共4页Modern Manufacturing Engineering

基　　金：广东省自然科学基金项目(05006497)

摘　　要：研究一种管道微机器人新型轮式驱动方法及结构,即由驱动轮表面与管道表面作用产生的牵引力和驱动轮表面结构的弹性变形力来驱动微机器人运动。分析了新型管道微机器人在运动时的受力情况,并推导得到驱动轮弹性变形驱动力和牵引力的计算公式。同时,笔者研制了一种微小力测试实验台,对驱动轮的弹性变形驱动力进行了测试。A novel wheel driving method and structure using in micro-robot in tube is introduced. The driving force of micro-robot in tube are comprised of pull force of driving wheel acting on the surface of the tube and elastic deformation driving force induced by driving wheel exterior construction deformation. Based on the theoretical analysis ,including the driving force analysis ,calculation equations of elastic deformation driving force and pull force are given. Experiment to test the elastic deformation driving force is carried out with the micro-force test rig made.

关 键 词：管道微机器人 粘性管道 弹性变形驱动力 牵引力 

分 类 号：TH16[机械工程—机械制造及自动化]