A New Swimming Micro Robot Imitated Tadpole

Bionics is a new developmental subject which formed by the combination of bioscience and engineering technology, and it is the application of biological fabrication, functions, principles and control mechanisms to the improvement and creation of machine, instrument, architecture and technical process, especially robot system that is a representative of electro-mechanical systems. At present, many kinds of robots are researched according to the imitation of fabrication, material, function, control and colony of biology. Based on the studies of bionic robots, and according the swimming principle of tadpole, a new swimming micro-robot imitated tadpole is proposed in this paper. The micro-robot which reproduces the swimming performance of tadpoles has excellent swimming performance, and has significant meaning in blood vessel micro-robots which have extensive applied foreground.On the basis of swimming propulsion theories offish and tadpole, the principle of the swimming micro-robot has been analyzed, and the undulatory propulsion theory of the . swimming micro-robot imitated tadpole has been established. According to the analysis and solution of the swimming model of the micro-robot, the relationship between swimming speed, swimming propulsion and shape, swimming parameters is defined. A prototype of the micro-robot is developed and experiments on it are conducted detailedly. Many important factors which influence the swimming propulsion performance of the micro-robot are analyzed, and control problems of the swimming micro-robot are solved and realized elementarily.In first chapter, research meanings and background of micro-robots study are firstly introduced, and the internal and external research situation of micro-robots is analyzed, then key technologies and difficulties appear in micro-robot study are discussed. A new swimming micro-robot imitated tadpole is proposed. At last, the research meanings and contents of the whole issue are presented.In chapter 2, the fabrication and swimming propulsion mechanism of the micro-robot is introduced. The prototype of the micro-robot is developed and the swimming propulsion speed of the micro-robot is studied experimentally, the experimental results indicate that the swimming micro-robot proposed is reasonable and feasible. At last, experimental study conclusions are given.In chapter 3, foundation of theory and principle of swimming propulsion of the swimming micro-robot are introduced. Kinematics and kinetics of the micro-robot areanalyzed detailedly, and then, model and equation of kinematic and kinetic of the swimming micro-robot are given. According to solving the equations and using coordinate graphs, the influences of shape and swimming parameters on the swimming speed and propulsion are studied and analyzed. The comparison of the theoretical results and experimental data of swimming speed is made, the results indicate that theoretical results are consistent with experimental data, which means that the theory model of the micro-robot is reasonable and feasible. At last, efficiency of swimming propulsion, factors which influence swimming propulsion performance of the micro-robot and methods that will decrease swimming propulsion resistance are analyzed and discussed.In chapter 4, many kinds of control theories and methods of robots are summarized and introduced, and the study contents of robot control are discussed. The control theory and methods of the micro-robot that imitated tadpole are put forward, and then the control problems of the micro-robot are solved elementarily.In chapter 5, on the basis of the study of the swimming micro-robot imitated tadpole, a new blood vessel micro-robot is put forward and designed. Fabrication and swimming control mechanism of the blood vessel micro-robot are studied and analyzed detailedly. The study of the blood vessel micro-robot in this paper provides concrete foundation which will be needed in the farther research.In last chapter, the summary and prospects of the whole task are presented.This paper is supporte...