Research On A Novel Biomemic Swimming Micro-robot

The swimming micro-robots are noncontagious, frictionless and high-efficiency, so they have become a hot topic in the field of mini-invasive or non-invasive therapy medical robot industry at home and abroad. It is noticed that monotrichous can form spiral shape and change the locomotion by changing the direction of the spirals. This paper introduces a novel bionic micro-robot which can swim based on the monotrichous's locomotion principles. The four rigid spirals are taken as the propellers of the swimming robot. In motion changing the combination of the spiral direction and the motor direction, the swimming micro-robot obtains the different axial force and the different circumferential force. The ultimate goal is to achieve the three modes of the swimming robot:forward, turning and backward.In the paper, basing on simulating the monotrichous's structure composition, the streamline structure of the micro-robot has been designed, then the scheme of the propulsion has been introduced. The matters of the static equilibrium and the tightness have also been considered. The propelling force and the resistance caused by the fluid of the micro robot are modeled.To control the swimming micro-robot, the embedded system and the monitor system of PC have been designed out. The PID controller method in the classic control theory is used to the speed of revolution. The embedded system and the monitor system transmit data each other by the wireless communications technology.To carry out the experimental study of the robot's resistance and propulsive force properties, the artificial artery environment is established and the robot's movement properties are studied. The results show that the robot's driving method is feasible and can endure the liquid impact effectively.