摘要
论述了微型管道机器人移动机构的发展背景,在介绍了已有的微型管道机器人移动机构的基础上,指出了这种移动机构的缺陷.然后设计了一种新型微型管道机器人的移动机构,并给出了其运动机理及电磁铁的主要参数计算公式.这种新型微型管道机器人的移动机构以电磁驱动,可实现在微型管内的双向蠕动运行,并能够较顺畅的随弯管形状被动转向.
The background of walking mechanism of micro in-pipe robot is firstly demonstrated in this paper. Through the introduction of existing walking mechanism, some defects are pointed out. Then, a new walking mechanism is designed, and the movement principle and the formulae for major parameters of electromagnet are offered. The new mechanism, which is actuated by electromagnetic power, can wriggle in a small pipe in two directions, and walk in a bent pipe smoothly and easily.
出处
《昆明理工大学学报（理工版）》
2005年第3期46-49,共4页
Journal of Kunming University of Science and Technology(Natural Science Edition)
关键词
管道机器人
蠕动
电磁驱动
pipe robot
wriggling
electromagnetic actuation
