【摘要】 利用所提出的数学模型,得出当微型机器人运行时,各种环境参数如润滑液粘度、肠(管)道直径、油膜分布等与机器人的驱动力和机器人的运行速度之间的关系曲线,研究了这些参数与机器人运行摩擦阻力矩、油膜的承载能力之间的关系,分析了机器人运行速度和机器人运行驱动力、润滑油膜厚度和机器人的驱动力之间的相互影响。更多还原

【Abstract】 The design parameter influences on micro robot were studied,the used mathematical model was proved by experiments.The models were solved by the FEM analysis,as the results,the paper gave relations among robotic driven forces,its running velocities or thickness of the dynamic films and robotic parameters.The study coverd the gastro environment and its affections to the robot running,the micro robotic design parameters and their devotion to the robot running.The relations between the robot running velocity and its driven forces were also investigated.The experimental studies on micro robot running under different environment show that the results(relations) are correct.更多还原