A Theoretical And Experimental Study Of Swimming Micro-robot

With the development of microfabrication, micro electro-mechanical system and medical treatment, there is an active in the study of micro pipeline robots and medical micro-robots. As a kind of medical robots, the swimming micro-robot in human body has a significant potential foreground.The kinematics model and dynamics model of swimming micro-robot when it propel in undulate mode are introduced in this principle. With calculation and analysis, the theoretical rules are presented. The experimental rules are concluded in the experiment of swimming micro-robot, and by the contrast between theory and experiment the factors which influence the locomotion states of swimming micro-robot are analyzed.In the first chapter, the research background is introduced, and the internal and external study situation of micro-robots and the key technology and difficulty of micro-robots are analyzed detailedly. A new kind swimming micro-robot is proposed. The studying meaning and content of the issue are presented.In the second chapter, the theoretical basis and propelling principle are introduced. With the analyzing of kinematics and dynamics of the swimming micro-robot, the theoretical model is build up. The resistance during the locomotion of swimming micro-robot is analyzed, and a contrast of efficiency between different propelable modes is given.In the third chapter, the prototype of the swimming micro-robot and the structure and the function achieved of experimental instruments are firstly introduced, the function achieved and the principle of flexibility of the swimming micro-robot are analyzed secondly, and the measure principle of the experimental instruments is explained detailed. At last, the analysis of the error of measure result is given.In the fourth chapter, five kinds of experimental projects are introduced. With the detailed experimental studying of swimming micro-robot, the experimental results are provided, and the analysis of experimental rules is given.In the fifth chapter, the theoretical study of locomotion performance of swimming micro-robot is carried out; the analysis of factors which influence the locomotion performance of swimming micro-robot in different conditions is introduced. The theoretical locomotion rules are calculated. By the contrast between experimental results and theoretical analysis, the abnormal instances are explained.