仿水黾机器人驱动机构电磁铁驱动特性研究.pdfVIP

第38 卷 第5 期 河 北 工 业 大 学 学 报 2009 年 10 月 Vol.38 No.5 JOURNAL OF HEBEI UNIVERSITY OF TECHNOLOGY October 2009 文章编号：1007-2373 (2009) 05-0020-04 仿水黾机器人驱动机构电磁铁的驱动特性研究 1 1 1 2 王 兰 ，靳迎波 ，高铁红 ，高 峰 （ 河北工业大学 机械工程学院，天津 ； 上海交通大学 机械系统与振动国家重点实验室，上海 ） 1. 300130 2. 200240 摘要 提出一种以电磁铁作为驱动通过解耦控制两驱动腿实现划水运动的仿水黾机器人新构型，研究了仿水黾机 器人的电磁驱动特性，分析电磁铁的电流、电压、弹簧等特性参数与驱动机构的驱动特性及机器人速度性能间的 关系，最后通过样机的实验来验证分析的正确性，从而实现了仿水黾机器人用电磁铁二元逻辑控制替代电机复杂 伺服驱动的新构想． 关 键 词 水黾；仿生机器人；电磁铁；驱动机构；MATLAB 中图分类号 TP242 文献标识码 A Research on Drive Characteristics of Drive Mechanism on Water Strider Robot 1 1 1 2 WANG Lan ，JIN Ying-bo ，GAO Tie-hong ，GAO Feng ( 1. School of Mechanical Engineering, Hebei University of Technology, Tianj in 300 130, China; 2. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai 200240, China ) Abstract A new kind of water strider robot actuated by electromagnet was proposed in this paper. The robot could row on water with its two driving legs through decoupled control. Driving characteristics of electromagnet were talked about. The electromagnet parameters such as current, voltage, spring, etc. have relation to drive mechanism property and robot velocity. Experiments on prototype were made to validate the above results. So we get a novel water strider robot which was controlled by electromagnet through simple binary logical control instead of complex s