摘要
提出利用电磁铁的磁力作为机器人的运动驱动,利用这种电磁力的磁悬浮微动机器人不需要任何关节,结构紧凑,运动精度高。文中主要介绍了这种机器人的结构及其原理,推导了机器人的磁力特性以及运动特性,并通过单自由度磁悬浮实验台对运动特性进行了验证,实验证明推导的结果是正确的。
We point out that the magnetic force of an electromagnet can be used as movement driving force for a micro-manipulator robot, and that this kind of micro-manipulator robot does not need any joint, and its construct is compact, its movement precision is very high. In this paper, the robot structure and its principle is discussed in detail. The magnetic force and movement characteristics are researched. According to the experiment result with single degree of freedom magnetic levitation experiment equipment, it is proved that the theory of force and movement characteristics is correct.
出处
《机械科学与技术》
CSCD
北大核心
2005年第5期600-602,共3页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(60205009)
广东省自然科学基金项目(000478)资助
关键词
磁悬浮
微动机器人
运动
Magnetic levitation
Micro-manipulator robot
Movement
