【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。更多还原

【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.更多还原