针对直径在18～30 mm范围内的细小管道难以检测的问题，提出一种微型机器人。该机器人采用谐振原理驱动，简化了传动机构。由微型电机带动偏心轮旋转作为激励源，建立了机器人在管道壁约束下的数学模型，求解机器人柔性足与管壁碰撞产生的角加速度和接触点位置，分析了机器人的运动机理。研制机器人样机，并搭建管道试验环境，进行速度和牵引力测试实验。最小样机尺寸15 mm×15 mm×22 mm，由实验结果得出：样机在8 V电压下，速度最高可达到68．29 mm/s，功耗约为0．15 W，最大爬坡角度30°。%A micro robot is described in this paper that will conduct its work in a thin pipe with a small diameter in the range of 18 mm to 30 mm which is hard to detect. The robot is based on the resonant driving principle, which simplifies the transmission mechanism. Using an excitation source-the eccentric wheel is driven by a micro engine. A mathematical model of the robot in the pipe wall constraints was established to solve the angular acceleration caused by the collision between the robot's feet which are flexible enough with the pipeline wall, and the position of the contact points. The movement mechanism of the robot was also analyzed. The robot prototype was designed and a pipeline test environment was built to carry out the speed and traction testing. The minimum size of the prototype is 15 mm×15 mm×22 mm. The results show that:under 8 V voltage, the maximum speed of the prototype is up to 68.29 mm/s, the power consumption is about 0.15 W, and the maximum ramp angle is 30°.
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