Dissertation > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Industrial robots

Research on A Novel Biomemic Swimming Micro-robot

Author LiuYaoDong
Tutor ChenBai
School Nanjing University of Aeronautics and Astronautics
Course Mechanical and Electronic Engineering
Keywords Bionics Bacterial flagellum Spiral Artery Move about Control
CLC TP242.2
Type Master's thesis
Year 2010
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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 .

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