Motion characteristics of earthworm-based miniature robotic components

CHI Dong-xiang; YAN Guo-zheng

doi:null

您当前的位置：

首页 >

文章列表页 >

Motion characteristics of earthworm-based miniature robotic components

更新时间：2020-08-12

- Motion characteristics of earthworm-based miniature robotic components
- Optics and Precision Engineering Vol. 10, Issue 2, Pages: 160-164(2002)
- 作者机构：
  
  上海交通大学, 电子信息学院820所上海,200030
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242
- Received：22 September 2001，
  
  Revised：07 January 2002，
  
  Published Online：15 April 2002，
  
  Published：15 April 2002
- 稿件说明：
移动端阅览
迟冬祥, 颜国正. 基于蚯蚓运动原理的微小机器人构件的运动特性[J]. 光学精密工程, 2002,(2): 160-164

CHI Dong-xiang , YAN Guo-zheng. Motion characteristics of earthworm-based miniature robotic components[J]. Editorial Office of Optics and Precision Engineering, 2002,(2): 160-164
迟冬祥, 颜国正. 基于蚯蚓运动原理的微小机器人构件的运动特性[J]. 光学精密工程, 2002,(2): 160-164 DOI：

CHI Dong-xiang , YAN Guo-zheng. Motion characteristics of earthworm-based miniature robotic components[J]. Editorial Office of Optics and Precision Engineering, 2002,(2): 160-164 DOI：

摘要

介绍了一种基于蚯蚓运动原理的微小机器人内窥镜系统的原型

分析了单一构件活动件的运动特性

并通过调整各个线圈的驱动波形可以有效地控制微小机器人的运动.详细讨论了构件通电时间与构件活动件的运动位移、速度、加速度的关系

由此确定了微小机器人驱动电压的最高频率.可以通过调整驱动电压的频率来调节微小机器人的运行速度;也可以通过减少构件的通电时间解决微小机器人在运行过程中的发热问题.这项研究为微小机器人内窥镜的实际应用奠定了基础.

Abstract

In this paper an earthworm-based miniature robotic endoscope prototype is put forward

and the structure and driving principles of the robot are introduced

and still the motion characteristics of each component are discussed as well. The motion of the miniature robot can be controlled effectively by adjusting the driving waveform. The relationship between driving time of the component and the displacement

velocity and acceleration is illustrated in detail

and thus the maximum driving frequency is determined. The velocity of the miniature robot can be adjusted by adjusting the driving frequency and the heat generation is reduced by shortening the driving time. The research has laid foundation for the application of the miniature robotic endoscope.

关键词

Keywords

references

Ikuta K.The application of the micro/miniature mechatronics to medical robotics[A].Proc.IROS'88, Tokyo[C].Japan,1988.9-14.

Slatkin A B, Burdick J, Grundfest W.The development of a robotic endoscope[A].Proc.Int.Symposium on Experimental Robotics,Stanford[C].CA, 1995,5:162-171.

Heg H D, Slatkin A B, Burdick J W.Biomechanical modeling of the small intestine as required for the design and operation of a robotic endoscope[A].Proc.Int.Conf.on Robotics and Automation, San francisco[C].CA,2000.1599-1606.

Carrozza M C, Lencioni L, Magnani B, et al.A microrobot for colonscopy[A].Proc.IEEE.7th Int.Symposium on Micro Machine and Human Science[C].1986.223-228.

Carrozza M C, Lencioni L, Magnani B,et al.The development of a microrobot system for colonscopy[A].CVRMed-MRCAS'97[C].1997.779-788.

Krishnan S M, Kumar S, Yap C J.Computer-assisted intelligent endoscopy[A].CARS'99[C], 1999.156-160.

Ikeuchi K, Yoshinaka S, Hanshimoto et al.Locomotion of medical robot with spiral ribs using mucus[A].Proc.IEEE.7th Int.Symposium on Micro Machine and Science[C].1996.217-222.

Peirs J, Reynaerts D, Van Brussel H.Design of miniature parallel manipulator for integretion in a self-propelling endoscope[A].Sensors and Actuators (85)[C].2000.409-417.

Chi D X, Yan G Z, Lin L M.A novel miniature robotic endoscope design for intestinal inspection based on earthworm[A].Proceeding of 2001 International Workshop on Bio-Robotics and Teleoperation[C], Beijing, China, 2001.

高志军,颜国正,丁国清,等.多机器人协调与合作系统的研究现状和发展[J].光学精密工程,2001,9(2):99-101.

熊翔,颜国正,丁国清,等.基于蛇类的仿生变体机器人运动学研究[J].光学精密工程,2001,9(4):330-333.

Views

519

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Status and development of in-pipe micro robots

Design of the image acquisition and wireless transmission branch system of wireless micro robotic endoscope system

Related Author

SUN Li-ning

LIU Pin-kuan

WU Shan-qiang

LIU Tao

FU Guo-qiang

MEI Tao

KONG De-yi

ZHANG Yan

Related Institution

Robot Research Institute, Harbin Institute of Technology

National Key Lab of Transducer Technology, Institute of Intelligent Machines, Chinese Academy of Sciences

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰