| 电磁微马达驱动全方位永磁轮式爬壁微机器人 |
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| 引用本文： | 张大伟,陈佳品,李振波. 电磁微马达驱动全方位永磁轮式爬壁微机器人[J]. 机器人, 2011, 0(6): 712-718 |
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| 作者姓名： | 张大伟 陈佳品 李振波 |
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| 作者单位： | 上海交通大学微纳科学技术研究院薄膜与微细技术教育部重点实验室; |
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| 基金项目： | 国家863计划资助项目(2007AA04Z340); 国家自然科学基金资助项目(61175100) |
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| 摘 要： | 介绍了一种全方位微型轮式爬壁机器人.将轴向磁通电磁微马达与永磁轮集成在一起,实现驱动吸附一体化设计.采用一套转向齿轮和三个永磁轮,设计了全方位的爬壁机构.通过动力学分析,导出微机器人爬壁所需的力矩和磁力,并结合永磁轮自身的设计约束,采用ANSOFT和Pro/Engineer仿真对其尺寸进行了优化,从而在相司负载的情况下...
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| 关 键 词： | 微犁爬壁机器人 永磁轮 全方位 电磁微马达 优化 |
An Omni-directional Wall-climbing Microrobot with Permanent-magnetic Wheels Actuated by Electromagnetic Micromotors |
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| ZHANG Dawei,CHEN Jiapin,LI Zhenbo. An Omni-directional Wall-climbing Microrobot with Permanent-magnetic Wheels Actuated by Electromagnetic Micromotors[J]. Robot, 2011, 0(6): 712-718 |
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| Authors: | ZHANG Dawei CHEN Jiapin LI Zhenbo |
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| Affiliation: | ZHANG Dawei,CHEN Jiapin,LI Zhenbo (Key Laboratory for Thin Film and Microfabrication of Ministry of Education,Research Institute of Micro/Nano Science and Technology,Shanghai Jiao Tong University,Shanghai 200030,China) |
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| Abstract: | An omni-directional wall-climbing wheeled microrobot is presented.The integral design with driver and adhesive is realized by integrating the axial flux electromagnetic micromotor and the permanent-magnetic wheel.An omni-directional wall-climbing mechanism is designed by using a set of steering gears and three standard permanent-magnetic wheels.The required torque and magnetic force for the movement of the microrobot are derived by dynamic analysis. The sizes of permanent-magnetic wheels are optimized in co... |
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| Keywords: | wall-climbing microrobot permanent-magnetic wheel omni-directional electromagnetic micromotor optimization |
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