【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.更多还原

【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 servo control by motor.更多还原