Research on A Novel Biomemic Swimming Micro-robot
|School||Nanjing University of Aeronautics and Astronautics|
|Course||Mechanical and Electronic Engineering|
|Keywords||Bionics Bacterial flagellum Spiral Artery Move about Control|
Swimming micro-robot due to the non-contact, no friction, the advantages of high energy efficiency , has become one of the hot topics at home and abroad involved in robotics research . Noted that bacterial flagellum in the course of the campaign will show the spiral movement of change depends on the spiral of change . This article is based on the mechanism of bacterial flagellum movement , designed a new swimming micro-robot . The robot with four rigid spiral propeller, in the course of the campaign , the adjustment screw rotation to the rotation of the motor combination , to achieve control and co - axial and circumferential force , the ultimate realization of the robot forward , backward , and steering . Firstly bionic swimming mechanism of the bacterial flagellum , on this basis , design a streamlined robot shape, raised swimming micro - robot propulsion design , robot static equilibrium in the fluid and sealing a comprehensive consideration. Robot propulsion and by the resistance in the fluid analysis model and a theoretical analysis . In order to achieve the motion control of the robot , the design of the robot embedded control system and PC monitoring system . Embedded control systems based digital proportional - integral - derivative controller to control the motor speed , embedded control systems and PC monitoring system through the wireless communication technology to achieve data transmission . Finally, the experimental study of the propulsive force generated by the robot in the the swimming process by the resistance and the robot . Build the analog arterial Environmental bench , dynamic performance and efficiency of the robot in the flow field experimental study, the results show that the robot - driven approach is feasible .