管道微机器人驱动器微小弹性啮合轮的传动力  

Transmission Force of Micro-Elastic Mesh Wheel in In-Tube Micro Robot Actuator

作　　者：陈扬枝[1] 邢广权[1] 刘文光[1] 姚华平[1] 

机构地区：[1]华南理工大学机械工程学院,广东广州510640

出　　处：《华南理工大学学报（自然科学版）》2006年第7期45-49,共5页Journal of South China University of Technology(Natural Science Edition)

基　　金：广东省自然科学基金资助项目(B05006497);教育部留学回国人员科研启动基金资助项目(B01B7050100)

摘　　要：为解决管道微机器人在微小空间内的交叉轴传动问题,研制了微小弹性啮合轮的传动机构.基于材料力学大变形理论,建立了微小弹性啮合轮传动机构的力学模型,推导了最大传动力的表达式,应用该表达式计算了所设计机构的最大传动力.在所研制的微小力测试实验台上进行了传动力测试实验.理论计算和实验结果表明,微小弹性啮合轮传动机构能够满足微机器人动力传递的需要.A novel drive mechanism named micro-elastic mesh wheel was developed to transfer power between the cross axes in a limited space by in-tube micro robot. During the investigation, a mechanical model of the novel drive mechanism was established based on the large deformation theory in the mechanics of materials, and the maximum transmission force of the mechanism was formulated and calculated. Experiments are finally carried out on a micro-force test platform to test the transmission force. The calculated and experimental results show that the proposed drive mechanism fully meets the requirements of power transfer to micro robot in tube.

关 键 词：管道微机器人 微小弹性啮合轮 传动力 

分 类 号：TH112.5[机械工程—机械设计及理论]