摘要
研制了一种能在导磁面上运动的电磁驱动的微小爬壁机器人，其尺寸为30mm×15mm×20mm，重约30g。在分析尺蠖运动原理和现有爬壁机器人驱动方式、驱动力和机器人结构的基础上，设计了新的驱动结构和驱动方式，实验测试表明，此设计明显提高了机器人的驱动力。通过研究人体的转弯机理，实现了机器人的快速转弯。分析了机器人的驱动控制信号，设计制作了机器人的驱动控制电路。整个爬壁机器人采用爬行式运动方式，运动速度可以达到1．1cm／s，可以在0～90°的导磁面上爬行。
The design of a electromagnetism driving micro- climbing wall robot which can move and travel on the magnetic surface is presented in this paper, which has 30 mm× 15 mm× 20 mm size and the weight is less than 30 g. Based on analyzing the moving theory of cankerworm and the older driving mode, driving power, robot＇s mechanical structure, the paper shows the novel driving structure（NDS） and novel driving mode（NDM）, and the experimental test data results which the advantage of NDS and NDM enlarge the driving power apparently compared with old driving part. Based on analyzing the human body＇ s turning action, realized the robot＇s quick turning operation. Based on the analysis of the moving mechanics, the essay offered the controlling and driving signals and circuit, too. The microrobot adopts the creeping motorial mode and its speed can up to 1.1 cm/s ,and can climb the slop from 0 degree to 90 degree.
出处
《现代电子技术》
2007年第13期101-104,共4页
Modern Electronics Technique
基金
国家863资助项目(9804-06)
教育部高校骨干教师资助项目
重庆市自然科学基金资助项目(6981)
关键词
微机器人
爬壁
电磁驱动
快速转弯
micro- robot
climbing wall
electromagnetism driving
quick turning
