电磁型微小管道机器人的研究  

Research on Miniature Robot Used in Thin Tubes Actuated by Electromagnetic Force

作　　者：颜国正[1] 丁国清[1] 戎荣 高立明[1] 林良明[1] 

机构地区：[1]上海交通大学仪器工程系

出　　处：《上海交通大学学报》1998年第8期122-125,共4页Journal of Shanghai Jiaotong University

基　　金：国家八六三资助项目

摘　　要：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．According to the needs of realtime detecting to the miniature cavity or thin tubes, a prototype of miniature robot driven by electromagnetic force is developed. The article analyses the mobile mechanism and characteristics of the developed prototype, especially some factors which affect the movement of miniature robot such as trigger pulse amplitude and frequency, friction between miniature robot and ground on which it moves. In addition, a series of experimental results are given. The results show that the miniature robot can perform various setting operations and possess enough output driving force.

关 键 词：机器人 驱动 电磁力 电磁型 微小管道 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]