基于蚯蚓运动原理的微小机器人构件的运动特性

迟冬祥; 颜国正

doi:null

您当前的位置：

首页 >

文章列表页 >

基于蚯蚓运动原理的微小机器人构件的运动特性

微纳技术 | 更新时间：2020-08-12

- 基于蚯蚓运动原理的微小机器人构件的运动特性
- Motion characteristics of earthworm-based miniature robotic components
- 光学精密工程 2002年10卷第2期页码：160-164
- 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：
  中图分类号： TP242
- 收稿日期：2001-09-22，
  
  修回日期：2002-01-07，
  
  网络出版日期：2002-04-15，
  
  纸质出版日期：2002-04-15
- 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.

浏览量

519

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

管内移动微型机器人研究与发展现状

无线微型机器人肠道内窥镜系统中图像采集与无线传输子系统的设计