【摘 要】
：
基于现代精密加工技术制造的微机械，有着广阔的应用前景。特别是直径Φ１０～２０ｍｍ（１英寸）的细小管道，要求研制新型微机器人用于无损检查管壁和维修。考虑到电磁驱动器，具有结构简单、单位行程
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基于现代精密加工技术制造的微机械，有着广阔的应用前景。特别是直径Φ１０～２０ｍｍ（１英寸）的细小管道，要求研制新型微机器人用于无损检查管壁和维修。考虑到电磁驱动器，具有结构简单、单位行程长、动作灵敏、控制方便等优点，研制了一种电磁式微机器人，外形尺寸Φ１５×３０ｍｍ，自重２５ｇ，它可以在Φ２０ｍｍ金属管内爬行，移动速度６～８ｍｍ／ｓ，有垂直爬坡能力。所加电压１６～２０Ｖ，频率３０～７０Ｈｚ。
Based on modern precision machining technology to create micro-machinery, has a broad application prospects. In particular, the diameter of Φ10 ~ 20mm (1 inch) of the small pipe, requiring the development of new micro-robot for non-destructive inspection of pipe wall and maintenance. Considering the advantages of simple structure, long unit stroke, sensitive action and convenient control, an electromagnetic micro robot has been developed with an external dimension of Φ15 × 30mm and its own weight of 25g. It can crawl inside a Φ20mm metal tube at a moving speed of 6 ~ 8mm / s, with vertical climbing ability. The applied voltage 16 ~ 20V, frequency 30 ~ 70Hz.
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