摘要
仿阿米巴变形虫机器人由于能进入名义尺寸比自身更小的空间并运动,于是能完成人类或其他机器人不能胜任的一些工作,如监视、检查、修理、清洁和探测等。在利用SolidWorks建立了参数化变形虫三维实体模型的基础上,使用Cosmos软件对变形虫运动过程以及运动中受力情况进行了仿真分析,研究了变形虫在控制单元的作用下,通过IPMC(离子交换膜金属复合材料)的变形,从而得出变形虫实体的变化规律。
Imitation Amoeba robot can enter the space whose nominal size is smaller than itself and also can complete many tasks which other robots or humans can′t such as surveillance,inspection,repair,cleaning,and exploration. Parameterized solid models of Amoeba are established by using SolidWorks.The simulation analysis of the movement and the force situation in the movement is completed by using the software of Cosmos. Under the control unit′s effect the change rule of Amoeba is researched based on deformation of the IPMC material.
出处
《机械研究与应用》
2010年第2期21-23,共3页
Mechanical Research & Application
基金
国家自然科学基金项目(60875069)
