摘要
本文描述了一种微管道机器人的结构与控制，分析了这种微管道机器人的移动原理，该机器人借用仿生学原理，结构独特、简单、新颖，运行速度快，能方便地实现前进和后退，可以在各种形状的弯管内运行．具有自学习功能，实现了智能控制．该机器人的直径为８ｍｍ，最小长度为１６ｍｍ，最高运动速度为４０ｍｍ／ｓ，牵引力大于０．５Ｎ．该机器人可用于核电站航天飞机等其他特殊领域的微小型管道的检查，维护．
This paper describes the structure and control of a new kind of micro robot in fine pipe, analyzes moving principle. The robot is based on bionic principle, its structure is simple, design novel, unique. It can move forwards and backwards, can walk in any bent pipe easily and move fast. The robot has the function of image recognition and manipulation. The system is achieved intellectual control and can learn by itself. Its diameter is 8mm, and the minimum length is 16mm. The most moving speed is 40/mm, the driving force is more than 0.5N. The robot can apply in maintaining and inspecting the fine pipe in nucleus power plant, space shuttle and other special field.
出处
《机器人》
EI
CSCD
北大核心
1999年第4期249-255,共7页
Robot
