【摘要】 建立了带弹性足的压电管道微机器人的数学模型，并用此数学模型计算了该微机器人的谐振频率，所得结果与试验结果一致，这表明所建立的数学模型是正确的。此外，还研究了压电微机器人的结构参数对机器人性能的影响。更多还原

【Abstract】 The mathematical model of a micro piezoelectric elastic legged robot in pipeline is found. The robotic structure frequency is worked out with this model,which is nearly equal to the frequency from the robotic structure experiment.It indicates that the analysis on the robot is correct.Furthermore, the work principle and the locomotion characteristics of the robot are researched. Besides,the piezoelectric robotic structure parameters’effect on the robotic structure properties is studied.更多还原