| 1. | Development of in - pipe micro robots
微型管内机器人的研究现状 |
| 2. | Chapter 2 is inverse kinematics model of parallel macro - micro robot system
第二章并联宏-微机器人系统的逆运动学模型。 |
| 3. | Generally , the micro robot is very small in dimension or moves slightly
微机器人一般指体积尺寸微小的机器人，以及动作量微小的机器人。 |
| 4. | The stability and possibility of the micro robot moving in pipe are affirmed in theory
从理论上确认了微管道机器人管内运动的可能性和稳定性。 |
| 5. | In addition , the micro robot is difficult to be controllable in the complicated shape of inner pipe wall
另外，由于管道内壁情况复杂，机器人的运动也难以控制。 |
| 6. | Preliminary experimental research is carried out using the designed control device driving the micro robot in liquid
本文设计了pzt驱动的液体中微机器人的控制装置，在液体中进行了微机器人的初步实验。 |
| 7. | The calculated and experimental results show that the proposed drive mechanism fully meets the requirements of power transfer to micro robot in tube
理论计算和实验结果表明，微小弹性啮合轮传动机构能够满足微机器人动力传递的需要。 |
| 8. | Based on the aerodynamics , this dissertation researches the condition of swimming micro robot to float in liquid by its self - motivity for the first time
在此基础上，设计了模糊控制器，对微机器人的泳动速度进行控制，并进行了有关仿真。 |
| 9. | A novel drive mechanism named micro - elastic mesh wheel was developed to transfer power between the cross axes in a limited space by in - tube micro robot
摘要为解决管道微机器人在微小空间内的交叉轴传动问题，研制了微小弹性啮合轮的传动机构。 |
| 10. | The dissertation studied the control velocity of the micro robot . chapter six discussed the control with the demands of safety and human comfort when the micro
论文第六章针对机器人运行的平稳性和人体的舒适性要求，提出了机器人的阻抗拧制方案。 |
