| The study on micro-pipe robot is a,research spot in MEMS. It mainly includes industry micro-pipe robot and medical body micro-pipe robot. Micro-pipe robot can be used to deal with inspection and maintenance in the industry micro-pipe in which, such as space aircraft, missile, nuclear power factory due to its narrow or dangerous region for the people no way. to enter. The above micro-pipe mostly scathes inner pipe wall based on its friction locomotion mechanism. In addition, the micro robot is difficult to be controllable in the complicated shape of inner pipe wall. So the relative researcher make great efforts to explore new method.From the view of bionics to imitate biology motion in the nature, This dissertation is devoted to study and design micro mobile robot in liquid by the help of propulsion mechanism of fish and flagella protozoa. It is believed that it can bring the important inspiration for the future medical micro robot which can be embedded into inner organ of human for inspection, drug spot deliverance and local body surgery. Supported by supported by the Nation Nature Science Foundation of Mechanism, Structure and Control Study on Swimming Micro Robot in Liquid (Item No.69885002) and Guangdong Province Science Foundation of Research on Swimming Micro Robot in Liquid (Item No. 980402) and Guangdong Province Education Department Foundation of Research on Micro Pipe Robot driven by liquid Self Energy(Item No. 010043), this dissertation mainly deals with much theoretical and ,including research situation and the main issue of micro mobile robot in liquid, fish propulsion mechanism, design and locomotion mechanism, and flagellum-like propulsion swimming micro robot in low Reynolds number viscous liquid. The main contents and related original achievements are as follows:First, this dissertation deeply analyzes the research situation and the main issue of micro mobile robot in liquid on the basis of a lot of the domestic and foreign documents to be referred. So great benefit will be brought the civil scholars which are interested to engage in their further research for it.This dissertation discusses fish propulsion mode and mechanism. Fish undulatory mechanism is deeply investigated, besides the kind and specialty of fish swimming mode, fish morphologic description and force-acting analysis. In addition, thedissertation reviews the current situation, fundamental characterization and application forehead for underwater biomimetic robot, So the above contents bring great reference for micro mobile robot in liquid.This dissertation sets up the kinematics model on the basis of the biomimetic study of lunate-tail propulsion steady swimming fish and of the analysis of fish body motion and caudal fin motion. Further, driving fin motion model is setup and simulated using Matlab, the relation of phase difference between feathering and heaving motion to caudal fin is deeply analyzed. Simulation shows that the proposed model is correct and reliable. Then, based on the study of fish muscle hydrodynamics motion, the propulsion force produced by driving fin is analyzed.This dissertation explains the fundamental design principle of flexure hinge and differential micro-displacement magnification structure, and investigates the reason for the structure displacement loss. The main mechanism is designed based on differential lever theory and flexure hinge, its magnification performance is simulated using finite element method (FEM). The simulation result shows that the main mechanism owes good magnification performance. The utilization of strip flexure hinges successfully solve the problem that the interior anti- force is too large in the mechanism.Preliminary experimental research is carried out using the designed control device driving the micro robot in liquid. Experimental research shows that, the designed main mechanism is reasonable; swimming velocity varies with the frequency exerted on; steering motion can by realized by changing the frequency f, and f2 of control power which exerts on two PZ...
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