白绍平, 汪劲松, 张伯鹏. 小型蠕动机器人原理与实现[J]. 机器人, 1994, 16(3): 140-143,149.
引用本文: 白绍平, 汪劲松, 张伯鹏. 小型蠕动机器人原理与实现[J]. 机器人, 1994, 16(3): 140-143,149.
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BAI Shaoping, WANG Jinsong, ZHANG Bopeng. THE PKINCIPLE AND REALIZATION OF MINIATURE WORMING ROBOT[J]. ROBOT, 1994, 16(3): 140-143,149.
Citation: BAI Shaoping, WANG Jinsong, ZHANG Bopeng. THE PKINCIPLE AND REALIZATION OF MINIATURE WORMING ROBOT[J]. ROBOT, 1994, 16(3): 140-143,149.
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小型蠕动机器人原理与实现

THE PKINCIPLE AND REALIZATION OF MINIATURE WORMING ROBOT

    摘要
  • 摘要: 本文阐述了蠕动的原理，在此基础上研制了一套小型里蠕动机器人系统．其主要部分由三个La：PZT电致伸缩微位移器和一套独特的柔性链机构所组成，机器人的外形尺寸为150×61×46mm，重2kg，最大步距10μm，行程40mm，运动精度0.2μm．

     

    Abstract: The principle of worming motion is stated. Bosed on it,a miniature worming robot(MWR),that consists of three La: PZT electrostrictive actuators and an unique set of flexible joint mechanism, is developed. The MWR, with the dimension of 150× 61 ×46mm and a weight of 2kg has a max stride of 10μm.Its max travel is 40mm.

     

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