›› 2000, Vol. 36 ›› Issue (11): 84-89.
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刘方湖;马培荪;储金荻;包志军
发布日期:
Liu Fanghu;Ma Peisun;Chu Jingdi;Bao Zhijun
Published:
摘要: 建立了带弹性足的压电管道微机器人的数学模型,并用此数学模型计算了该微机器人的谐振频率,所得结果与试验结果一致,这表明所建立的数学模型是正确的。此外,还研究了压电微机器人的结构参数对机器人性能的影响。
关键词: 弹性步行机构, 微电子机械系统, 微机械 微机器人, 压电微驱动器
Abstract: The mathematical model of a micro piezoelectric elastic legged robot in pipeline is found. The robotic structure frequency is worked out with this model, which is nearly equal to the frequency from the robotic structure experiment. It indicates that the analysis on the robot is correct. Furthermore, the work principle and the locomotion characteristics of the robot are researched. Besides, the piezoelectric robotic structure parameters effect on the robotic structure properties is structure parameters’ effect on the robotic structure properties is studied.
Key words: MEMS Micro robot, Micro electromechanical system, New elastic walking mechanism, Piezoelectric micro actuator
中图分类号:
TP242.3 TN384
刘方湖;马培荪;储金荻;包志军. 带弹性足的压电管道微机器人致动机理和运动特性的研究[J]. , 2000, 36(11): 84-89.
Liu Fanghu;Ma Peisun;Chu Jingdi;Bao Zhijun. RESEARCH ON THE WORK PRINCIPLE AND THE LOCOMOTION CHARACTERISTICS OF A MICRO PIEZOELECTRIC ELASTIC LEGGED ROBOT IN PIPELINE[J]. , 2000, 36(11): 84-89.
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