摘要
介绍一种采用直线电机为驱动器的新型仿蜗牛蠕动的微机器人的运动原理和驱动机构。该微型机器人由两个阶梯型平板机体和一个直线驱动器组成,运动原理与蜗牛的爬行原理相似,实验表明,微型机器人的前进速度随着直线驱动器速度、粘液粘度的增大而增大;微型机器人可以在很少粘液,也可以完全浸没在粘液中正常而有效地工作。
A kind of method to drive a novel snail-like micro robot based on a linear actuator is proposed.The robot consists of two bodies and a linear actuator.The driving method simulates the crawling principle ofsnail. Along with the elongation and the contraction ofthe linear actuator, the micro robot will step forward.The experimental results show that the micro robot canmove on surface with little mucus and on surface withmuch mucus.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2003年第22期1954-1957,共4页
China Mechanical Engineering
基金
国家自然科学基金资助项目(59805017)
关键词
仿生
蜗牛
微机器人
直线电机
bionic
snail-like
micro robot
linear actuator
