Study On In-pipe Microrobot And Its Intelligent Control System

The studies of micro robots have board application fields and social dements. Micro robots can be used in biomedicine, aeronautics and astronautics, national defence, industry, agriculture and family fields. Micro robot technique is a synthesis of many different disciplines, and a high integration of actuators, drive equipments, sensors, controllers and power supplies. The control of intelligent robots is a key study area of modern automatic controls. Owing to the features of robot, it is very important to achieve self-determination control of micro robots.Based on the results have been made in this area so far, the author made a comprehensive study on some theoretical and practical problems for a special type microrobot-micro pipe robot and its control techniques. The major works are shown as fellows:(1) Based on the amount of recently literature in this thesis, studies on the drive principle, moving principle and structure form of micro pipe robot, and the theory foundation to select the moving mechanisms of micro robots is proposed. The key problems, which must be taken into account in the design process of microrobot, are pointed out.(2) The moving principle of micro pipe robots is analyzed, the design principle of electromagnetic micro pipe robots and their composition and structure are described. The micro actuator of electromagnetic micro pipe robots is designed by optimizing design methods. An electromagnetic micro pipe robot was designed and made.The robot is based on bionic principle. Its structure is simple and unique. It can easily move forwards and backwards, can walk easily in some bent pipe and move fast. The robot has the function of image recognition and manipulation. The system has intelligent control and can learn the moving environment and controlling parameter by itself. Itsdiameter is 8mm, and the minimum length is 18mm.(3) The structure of control system and control strategies of a new kind of micro robot in fine pipe are described in this thesis, and the control signal of the micro pipe robots is analyzed. The displacement (velocity) and driving forces are tested. A new method of measuring the moving displacement of the robot based on the Laser Interferometer is proposed also. The test results and the technical features performance of the robot are reported. Its maximum moving speed is 40mm/s, and the driving force is more than 0.5N. The robot can be used in maintaining and inspecting of the fine pipes in nuclear power plants, space shuttles and other special fields.(4) Based on the moving environment and the moving features of the robot, the dynamics stability of the micro robot moving is analyzed. The author built the dynamics model of its constrained motion with frictionai contact, and its moving stability is analyzed by singular perturbation theory. The additional conditions of stability of the micro robot moving in pipe are proposed by computer simulating studies. The stability and possibility of the micro robot moving in pipe are affirmed in theory, and the rationality of design computing of electromagnetic micro pipe robot is proved also.(5) The micro pipe robot is controlled by fuzzy neural networks, to achieve the self-determination control of the robot. A new self-learning algorithm that is highly integrated with moving environment of the robot and neural networks structure is presented in this paper. According to the new self-learning algorithm, a self-learning control of the micro pipe robots is realized by computer simulation, and the simulating results are given.