一种单构件双运动机理微小型机器人移动机构  

A Single Component Locomotion Mechanism with Dual Driving Principles for Micro and Miniature Robot

作　　者：孙立宁[1] 李伟达[1] 蒋振宇[1] 郭伟[1] 李满天[1,2] 

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,黑龙江哈尔滨150080 [2]哈尔滨工业大学微纳米技术研究中心,黑龙江哈尔滨150080

出　　处：《机器人》2010年第1期41-47,共7页Robot

基　　金：国家自然科学基金资助项目(60675038);国家863计划资助项目(2008AA04Z211)

摘　　要：传统微小型机器人的移动机构难以同时满足对高移动速度和高分辨力的需求,而宏微双重移动机构通常存在结构复杂的缺点.针对这一问题,提出一种单构件双运动机理移动机构.该机构具有双重运动机理,即非谐振条件下的粘滑运动机理和谐振条件下的碰撞运动机理,分别用于实现较高的运动分辨力和较高的运动速度.实验结果表明,原理样机在前进与后退方向的运动分辨力分别可以达到0.896μm和0.456μm,在10V电压驱动下运动速度可达172mm/s.该机构结构简单,易于微小型化与批量制造,同时具有较高的运动速度与运动分辨力,可以提高微小型机器人的运动性能.The requirements of high speed with high resolution for micro and miniature robot can not be satisfied by traditional locomotion mechanisms. The macro/micro dual locomotion mechanisms are commonly to be too complex. Hence, a single component mechanism based on dual locomotion principles is presented. The dual locomotion principles include the stick-slip principle in nonresonant condition and the impact principle in resonant condition, which are respectively for high driving resolution and high driving velocity. Experimental results show that the locomotion resolution of the prototype reaches 0.896 μm in forward direction and 0.456 μm in backward direction. The locomotion velocity of 172 mm/s can be achieved with the operating voltage of 10 V. The locomotion mechanism has a simple structure and is easy to be miniaturized and mass fabricated. The novel locomotion mechanism is of high locomotion velocity and high driving resolution, which can greatly improve the moving performance of the micro mobile robots.

关 键 词：微型机器人 移动机构 粘滑机理 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]