摘要
根据仿生学原理开发了一种电磁驱动的蠕动型微机器人 ,利用计算机和机电控制系统对微机器人运动进行控制 .叙述了微机器人的结构 ,对其运动机理进行了分析和探讨 ,介绍了运动控制电路原理 ,并进行运动性能的实验分析 .实验表明 ,它能在直径小于 1 0 mm的管道内自行移动 ,携带内窥镜、CCD器件、照明系统进行管内目视检查作业 .
An electromagnetic driving creeping micro robot was developed based on the principle of bionics. The movement is controlled by computer and mechanical electronic controlling system. This paper described and analysed its structure and movement principle, introduced its controlling circuit of movement. It can move and check automatically in the tube of less than 10 mm diameter, carry endoscope, CCD and lighting system. The research is of reference value for the development of micro robot.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2000年第11期1504-1507,1530,共5页
Journal of Shanghai Jiaotong University
基金
国家"九.五"重点科技! (攻关 )计划 ( 9674 5- 0 1- 0 2 )
