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发表时间：2010-01-01

发表刊物：机械设计

期号：3

页面范围：40-44

ISSN号：1001-2354

摘要：The structural model of a kind of capsule typed mini-robot,which adopts the non-contacting rotary magnetic field drive and possessing the function of radial clearance compensation,has been put forward.The kinematic characteristics of mini-robot in liquid was analyzed,and the starting-up characteristics of robot were researched according to the phenomena of the axial propulsion force diminished notably along with the increments of clearance.Theoretical analysis and experiment showed that by mans of the radial clearance self-compensation property of robot it was possible to reduce the thickness of dynamic pressure oil film,to realize the control on thrust and motion and be able to enhance evidently the walking performance of mini-robot.

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