惯性冲击型微机器人支撑腿受力及其对运动速度影响的分析

Force Analysis of Impact Type Microrobot's Leg and Its Effect on Speed

针对Φ 2 0 m m管道内壁微移动机器人的支撑腿跨距对机器人运动速度的影响 ,利用力学分析的方法做出理论上的分析 ,并在实验上予以验证 ,得出对于磷青铜制的微机器人支撑腿 ,其跨距在管道内径Φ 2 0 0 .8- 0 .2 mm范围内微机器人运动速度较快的结论 。

The span of the leg is a structure parameter of an in pipe microrobot. It affects the speed a lot. This paper analyzes this effect on force theory and proves it by experiments. The conclusion is that if the leg is made of bronze and the span of the leg is d 0.8 -0.2 ( d is the internal diameter of the pipe), then the microrobot can get its maximum speed. It is very useful to optimize the microrobot.