Research On Kinematic Characteristics Of Swimming Micro-robot

As an important part,micro swimming robots include microfabrication, material, Bionics, hydrodynamics and control etc. Based on the studies of bionic robots, and according the swimming principle of fish, a novel swimming micro-robot imitated fishes is proposed in this paper. The micro-robot which reproduces the swimming performance of fishes 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 of fish 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.In Chapter 1, 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 Chapter 2, 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 Chapter 3. 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.In Chapter 4, eight 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 Chapter 5, 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...