| 一种微机器人轮式驱动器的运动稳定性研究 |
| |
| 引用本文： | 刘文光,陈扬枝,邢广权.一种微机器人轮式驱动器的运动稳定性研究[J].南昌航空工业学院学报,2007,21(1):14-16,29. |
| |
| 作者姓名： | 刘文光 陈扬枝 邢广权 |
| |
| 作者单位： | 南昌航空工业学院 江西南昌330063(刘文光)，华南理工大学机械工程学院 广东广州510640(陈扬枝，邢广权) |
| |
| 基金项目： | 广东省自然科学基金
,
教育部留学回国人员科研启动基金 |
| |
| 摘 要： | 本文从动力学角度出发,建立微机器人轮式驱动器的运动方程,并分析微驱动器运动稳定性的各种影响因素,得出造成微驱动器运动产生振动主要是存在动载荷。通过使用一相对运动弹性杆组成的模拟传动机构在微小传动力实验台进行传动力试验,试验结果表明弹性杆在啮合过程中产生了不稳定的变传动力,这种变传动力正是影响微驱动器运动产生振动的重要因素。
|
| 关 键 词： | 微机器人 轮式驱动器 稳定性 |
| 文章编号： | 11301-4926（2007）01-0014-03 |
| 修稿时间： | 2007-01-26 |
Research on the wheel driver movement stability of micro robot |
| |
| LIU Wen-guang,CHEN Yang-zhi,XING Guang-quan.Research on the wheel driver movement stability of micro robot[J].Journal of Nanchang Institute of Aeronautical Technology(Natural Science Edition),2007,21(1):14-16,29. |
| |
| Authors: | LIU Wen-guang CHEN Yang-zhi XING Guang-quan |
| |
| Institution: | 1. Nanchang Institute of Aeronautical Technology, Nanchag, Jiangxi 330063 ; 2. College of Mechanical South China University of Technology,GuangZhou, Guangdong 510640 |
| |
| Abstract: | According to the dynamical knowledge,the locomotion equation has been erected for the wheel driver of micro robot in this paper,and some factors have been analyzed that influence the micro driver movement stability,and the main factor has been found.The variational regularity of the transmission force has been studied which is produced by the mesh of the initiative elasticity tine and driven elasticity tine in the test bed.And the result shows that the variable force is the important factor that makes the micro driver vibrate. |
| |
| Keywords: | Micro rdoot Wheel driver Stability |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
