摘要
利用拉格朗日方程建立基于惯性冲击式驱动原理的微小型机器人的动力学模型 ,对该模型进行求解与仿真 ;利用有限元分析方法对机器人机构进行模态分析与瞬态动力学分析。两种分析方法都考虑了双压电膜机构与电场的耦合关系 ,以及机器人的支撑与管壁之间的接触摩擦。通过对两种方法的分析结果对比 ,验证了惯性冲击式运动原理的正确性 ,以及该原理用于管内移动微小型机器人驱动是可行的。
The dynamic formulation of micro robot based on Impact Drive Mechanism (IDM) was established by Lagrange method, and the solution and simulation of the model were presented. By vising Finite Element Method (FEM), the analysis on modal and transient of the robot mechanics were carried out. In the above two methods of analysis, the coupling problems about mechanics and electric field of piezoelectric bimorph and the contact friction model between robot feet and pipes were taken into account. The theory of Impact Drive Mechanism (IDM) is proved through comparing the results of two analysis methods, and the feasibility of pipe motion micro robot adopting the IDM theory is proved.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2004年第24期2217-2221,共5页
China Mechanical Engineering
基金
国家自然科学基金资助项目 (5 0 175 0 19)
哈尔滨工业大学校基金 (HIT .2 0 0 0 .60 )
