Study On Driving And Position Measurement Of The Wall-Climbing Micro-robot

The technology of robot is an important branch of high technology. With quick development of robot's application, human begin start to re-understand the functions and affections of the robot technique. The technique of robot is one of significant research fields in twenty-first century. In some sense, the level of technique of robot reflects the synthetic technique power of a country. Micromation of robots is an important direction of the development of the robot technology. The wall-climbing micro-robot that is discussed in this thesis is a special type of robot, which is driven by means of permanent magnetic field and mutual effect of electromagnetic field, has the characteristics of small volume and flexible control, can convenient enter narrow space, pipeline and big magnetizer where it is difficult for people to reach. In this thesis, we contrast and study a number of new driving-principles and driving-modes of robot, then propose a new working principle and electromagnetic driving-system of the new wall-climbing micro-robot, and analyzed the power of the robot's driving-system. In order to improve the driving power, the characters of permanent magnet and soft magnet have been compared and analyzed. Under the condition of given permanent magnet, how to make the robot passes enough driving power becomes the emphasis of the robot's structure design. This thesis choose the permanent magnet and soft magnet that meet technical requirements, and analyzed theoretically permanent magnetic circuit and electromagnetic circuit in the robot's driving-system.Wall-climbing micro-robot's driving mode and structure have been discussed in this thesis, and offered three types of driving modes and structures, and had made two experiments models. Furthermore, the micro-power instrument for measuring the robot's driving power is designed to measure driving power of there types of driving models. At the same time, theory analyze and experiment study have focused on all kinds of factors, and gain the reliable result by all kinds of theory analyze and contrastive experiments.The robot's moving status and control-time-sequence had been analyzed in this thesis, and have established the mathematical model. The characters of driving and controlling of robot, the realizable project of the driving circuit and the controlling circuit had been analyzed. The reformative trigonometry measure-model had been offered by analyzing the three-dimensional position measure system of basing on the two pieces and three pieces PSD, and offered a new three-dimensional measure method for micro-robot by using only one piece of two-dimensional PSD with this mathematical model.The hardware system for position measure of the micro-wall-climbing also had been discussed and designed in the thesis, including the structure, the working theory and parameters of two-dimensional PSD, the signal processing circuit of PSD, the LED circular lighting system, A/D conversion circuit board, the optical lens and PC and so on. Besides, the details of the soft module is given, including data sampling module and data processing module and data displaying module. The control software was written with the tools of C++ Builder5.0 and Matlab5.3.that measure software has characters of high-efficiency and high-agility. A number of experiments have verified the correctness, feasibility and practicability of the measure method studied in this thesis. The error of the position measure system also have been analyzed, and also presented the direction of amelioration. This can be regard as the reference of this kind of measure method and the system's optimum or application.We have obtained two patents on "Wall-climbing micro-robot's and it's driving mode" and "The force sensor".This thesis had offered a new project to measure the three-dimensional position and the driving-system of the wall-climbing micro-robot.