一种新型管道内微机器人的研究

本文描述了一种微管道机器人的结构与控制，分析 了这种微管道机器人的移动原理，该机器人借用仿生学原理，结构独特、简单、新颖，运行 速度快，能方便地实现前进和后退，可以在各种形状的弯管内运行．具有自学习功能，实现 了智能控制．该机器人的直径为8mm，最小长度为16mm,最高运动速度为40mm/s，牵引力大于 0.5N．该机器人可用于核电站航天飞机等其他特殊领域的微小型管道的检查，维护．

STUDY ON A NEW KIND OF MICRO ROBOT IN FINE PIPE

This paper describes the structure and control of a new kind of micro robot in fine pipe, analyzes moving principle. The robot is based on bionic principle, its structure is simple, design novel, unique. It can move forwards and backwards, can walk in any bent pipe easily and move fast. The robot has the function of image recognition and manipulation. The system is achieved intellectual control and can learn by itself. Its diameter is 8mm, and the minimum length is 16mm. The most moving speed is 40/mm, the driving force is more than 0.5N. The robot can apply in maintaining and inspecting the fine pipe in nucleus power plant, space shuttle and other special field.