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| 惯性冲击式运动原理的理论分析与仿真 | |
| 引用本文： | 刘品宽,孙立宁,刘涛,吴善强.惯性冲击式运动原理的理论分析与仿真[J].中国机械工程,2004,15(24):2217-2221. |
| 作者姓名： | 刘品宽 孙立宁 刘涛 吴善强 |
| 作者单位： | 1. 哈尔滨工业大学机器人研究所,哈尔滨,150001;德国不伦瑞克工业大学加工与生产技术研究所,不伦瑞克,德国 2. 哈尔滨工业大学机器人研究所,哈尔滨,150001 3. 日本高知工业大学机器人与动态实验室,高知县,日本 |
| 基金项目： | 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 ) |
| 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连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。 |
| 关 键 词： | 惯性冲击式 动力学方程 耦合场 有限元方法 |
| 文章编号： | 1004-132X(2004)24-2217-05 |
Theoretical Analysis and Simulation on the Principle of Inertia Drive Mechanism |
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| Liu Pinkuan , Sun Lining Liu Tao Wu Shanqiang . Harbin Institute of Technology,Harbin, . Technical University of Braunchweig,Braunchweig,German . Kochi University of Technology,Kochi,Japan.Theoretical Analysis and Simulation on the Principle of Inertia Drive Mechanism[J].China Mechanical Engineering,2004,15(24):2217-2221. | |
| Authors: | Liu Pinkuan Sun Lining Liu Tao Wu Shanqiang Harbin Institute of Technology Harbin Technical University of Braunchweig Braunchweig German Kochi University of Technology Kochi Japan |
| Affiliation: | Liu Pinkuan 1,2 Sun Lining1 Liu Tao3 Wu Shanqiang1 1. Harbin Institute of Technology,Harbin,150001 2. Technical University of Braunchweig,Braunchweig,German 3. Kochi University of Technology,Kochi,Japan |
| Abstract: | 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 was presented. By using 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 about pipe motion micro robot adopting the IDM theory is proved. |
| Keywords: | IDM dynamic equation coupling field FEM |
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