CAJ | 학술논문

传统微小型机器人的移动机构难以同时满足对高移动速度和高分辨力的需求,而宏微双晕移动机构通常存在结构复杂的缺点.针对这一问题,提出一种单构件双运动机理移动机构.该机构具有双重运动机理,即非谐振条件下的枯滑运动机理和谐振条件下的碰撞运动机理,分别用于实现较高的运动分辨力和较高的运动速度.实验结果表明,原理样机在前进与后退方向的运动分辨力分别可以达到0.896μm和0.456μm,在10V电压驱动下运动速度可达172mm/s.该机构结构简单,易于微小型化与批量制造,同时具有较高的运动速度与运动分辨力,可以提高微小型机器人的运动性能.
전통미소형궤기인적이동궤구난이동시만족대고이동속도화고분변력적수구,이굉미쌍훈이동궤구통상존재결구복잡적결점.침대저일문제,제출일충단구건쌍운동궤리이동궤구.해궤구구유쌍중운동궤리,즉비해진조건하적고활운동궤리화해진조건하적팽당운동궤리,분별용우실현교고적운동분변력화교고적운동속도.실험결과표명,원리양궤재전진여후퇴방향적운동분변력분별가이체도0.896μm화0.456μm,재10V전압구동하운동속도가체172mm/s.해궤구결구간단,역우미소형화여비량제조,동시구유교고적운동속도여운동분변력,가이제고미소형궤기인적운동성능.
The requirements of high speed with high resolution for micro and miniature robot can not be satisfied by traditional locomotion mechanisms. The macro/micro dual locomotion mechanisms are commonly to be too complex. Hence, a single component mechanism based on dual locomotion principles is presented. The dual locomotion principles include the stick-slip principle in nonresonant condition and the impact principle in resonant condition, which are respectively for high driving resolution and high driving velocity. Experimental results show that the locomotion resolution of the prototype reaches 0.896 μm in forward direction and 0.456 μm in backward direction. The locomotion velocity of 172 mm/s can be achieved with the operating voltage of 10 V. The locomotion mechanism has a simple structure and is easy to be miniaturized and mass fabricated. The novel locomotion mechanism is of high locomotion velocity and high driving resolution, which can greatly improve the moving performance of the micro mobile robots.