外场驱动无缆微型机器人的行走机理  

Moving Mechanism of a Micro Robot without Power Supply Cable Driven by Outside Magnetic Field

作　　者：张永顺[1] 贾振元[1] 丁凡[2] 王福吉[3] 史纯[3] 郭丽莎[3] 

机构地区：[1]大连理工大学现代制造技术研究所 [2]浙江大学流体传动及控制国家重点实验室 [3]大连理工大学机械工程学院

出　　处：《中国机械工程》2003年第14期1171-1175,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目 (6027503450 2 750 2 1 ) ;辽宁省科学技术基金博士起动基金资助项目(2 0 0 2 1 0 61 )

摘　　要：提出了一种以管道外磁场来驱动控制微型管道机器人行走的方法 ,基于振动原理实现了微机器人的行走。其特点是采用无缆驱动方式 ,使机器人可靠性和实用性都得到提高。其原理是通过管外时变振荡磁场频率的改变 ,借助微机器人磁致伸缩合金微驱动器的磁机耦合作用 ,将时变振荡磁场能转换成机器人弹性腿的振动机械能 ;上下弹性腿的刚度系数不同 ,可将微驱动器的轴向振动转化为机器人的径向振动从而实现机器人的行走。介绍了系统组成及工作原理 ,对行走机理进行了基础性研究 ,建立了机器人运动方程。实验表明机器人系统切实可行 。A new method, to drive and control micro in-pipe robot through magnetic field outside pipe, is put forward. Its motion is realized based on vibration theory, whose outstanding characteristics are that micro robot is driven wirelessly. As a result, both reliability and feasibility are improved. The operation principal is that the magnetic energy is converted into mechanical vibration energy of its legs through the action of piezomagnetism and magneto mechanical couple of its micro GMA when time variying oscillating magnetic field with different frequency applied through outside pipe. Thereafter robot moves forward by transferring axial vibration of GMA into radial vibration by installing elastic legs with different stiffness between upside and downside. In this paper the systematical structure and operation principle are firstly introduced, then fundamental analysis on its moving mechanism is conducted, therefore, its equations of moving speed and traction force are described. Finally robot systematical experiment is conducted, the experiments show the correctness of theoretical analysis and its feasibility. Consequently, outside magnetic field drive and control without cable is realized.

关 键 词：微型管道机器人 磁致伸缩驱动器 外磁场驱动 行走机理 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]