微小机器人的移动方式

微小机器人是微机电系统研究开发的重要分支,各种微小机器人的研究成果不断涌现.受自身尺寸和作业空间的限制,微小机器人难以采用常规机器人的驱动器、传动机构和执行机构.根据移动方式的不同,将微小机器人分为腿足式、轮式、蠕动式和游动式等类型.讨论了各种移动类型的例子,分析研究了它们新颖的驱动机构.认为驱动器的微型化是实现微小机器人的关键,高效合理的驱动方式可降低对微小驱动器的要求.

Locomotion methods of mobile microrobots

Microrobotics is an important branch of MEMS. Many microrobots have been invented and they will be widely used in the future. The ways of designing and manufacturing microrobots are different from those of ordinary robots. Because of their narrow working environments and special usage, it is almost impossible to apply conventional actuators, transmission mechanisms and executive mechanisms to microrobots. According to their locomotion methods, microrobots can be classified into four types (legged type, wheeled type, worming type and swimming type). Some prototypes based on each locomotion method are discussed and their novel mechanisms are analyzed. The miniaturization of actuators is the key to the design of microrobots. The conclusion is reached that innovative and efficient locomotion methods can lower the demand on micro actuators.WT5HZ]