电磁式管内微小移动机构的运动特性分析

The Moving Characteristics Analysis of Electromagnetic Micro- machine In-pipe

用现代精密加工技术制作的微小移动机构 ,对于大工业用管道 (特别是细小管道 )进行无损探测和维修有着十分重要的意义 .本文介绍电磁式微小管道内机器人的工作原理、运动特性和理论分析 .通过动力学计算 ,导出其主要参数的关系式表达式 ,从而为微机械的设计提供了理论依据和资料 .

Based on modern precision processing technology, the micro machine is very important for detection and maintenance of pipes, especially the small pipes less than 20 mm in diameter.This paper presents the driving characteristics, moving properties and theoretical analysis of electromagnetic micromachine in small pipes. With the dynamics calculation, the moving formulations are deduced, which provides the theoretical proof and data for the micro machine design.