在液体中运动的微机器人振动模型研究

采用智能材料驱动的、在液体中运动的微机器人的振动模型是建立和研究其动力学模型的重要基础.在已建立的静力学模型基础上,建立了微机器人的无阻尼振动模型和有阻尼振动模型,并进行了相关的仿真和实验研究.结果表明:所建立的振动模型与物理模型相符;在无阻尼时,微机器人的动作能够随着输入驱动信号频率的增加而加快;在有阻尼时,当输入驱动信号频率在一定范围内,微机器人能够克服阻尼而动作,并能随着驱动信号频率的增加而加快;此外,微小位移放大机构与微机器人机身相连接的二个柔性铰链的转角刚度、液体环境等参数对微机器人的有阻尼振动性能都会产生相应的影响.

Vibration Model Study on Mobile Micro-Robot in Liquid

The vibration model of micro robot which is driven by intelligent material and moves in liquid is the important basis to establish and study its dynamic performance . On the basis of established statics model , this paper sets up the vibration model without and with liquid friction and the simulation and experiment have been done . The results show that the established vibration model is quite close to the physical model . With the input driving signal frequency increasing , the vibration frequency of micro robot without liquid friction increases . When the frequency of driving sig- nal applied to the vibration model with liquid friction is in a certain scope , the micro robot can vibrate in spite of liquid friction . Furthermore , posameters suchas the rotating stiffness of two flexible hinges of the micro displacement amplifying mechnicsm attached to the micro and the liqaid surrounding etca, robot influence the vibration performance heavily Also, the liquid property affects the vibration performance in some extend.