微型泳動(dòng)式管道機(jī)器人的研究與設(shè)計(jì).pdf

1、分類(lèi)號(hào)：UDC：密級(jí)：編號(hào)：工學(xué)碩士學(xué)位論文微型泳動(dòng)式管道機(jī)器人的研究與設(shè)計(jì)碩士研究生：任思璩指導(dǎo)教師：王科俊教授學(xué)位級(jí)別：工學(xué)碩士學(xué)科專(zhuān)業(yè)：模式識(shí)別與智能系統(tǒng)所在單位：自動(dòng)化學(xué)院論文提交日期：2008年2月論文答辯A期：2008年3月學(xué)位授予單位：哈爾濱工程大學(xué)哈爾濱丁程大學(xué)碩十學(xué)何論文ABSTRACTManykindsofflawwillappearonsmallpipelinesofindustrialequipmentswhen

2、theyareusedforalongtime，whichcandoharmtodailyproductionandlifeDemandsofpiperobotswithdetectionorrepairincreasealot，sincethosesmallpipelinesareverydifficulttoexamineandrepairDuetotheconstraintofpowersupplycurrentin—pipero

3、botcannotworkinlongdistanceandforalongtimeOnthebasisofswimmingtheoriesoffishandtadpole，SOtheresearchismadeonthedesignofanovelcablelessin—piperobot，Byusingthetailfin，itproducespropulsionforcewhenitisswayedundertheactuatio

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6、fmotorpositionfromhardandsoftwaresthatcombineswithprimarycontrolcircuitandactualrequegItrealizesclosedloopcontrolbycombiningwithcheckingandcountingfunctionofMCU，andgainsgoodeffectFinallyswimmingexperimentsonthemicrorobot

7、areconduced，andanalysizestherelationshipofthespeedanddifferentmagneticfrequencyTheexperimentalresultsshowthatthemicrobothasgoodswimmingperformance，anditCanbedrivenbyexteriormagneticfieldwithoutcableiSrealizedKeywords：mic