Research On Tracing And Object Following Method Of Micro-robot Based On ICPF Actuator

With the development of micro-fabrication, micro electro-mechanical system and medical treatment, the study of micro pipeline robots and medical micro-robots is very active. Now, the microrobots have shown broad prospect in the application of biomedicine, aeronautics and astronautics, and military affairs, as they have low inertia, high resonance, short response time and etc.Firstly the research background is introduced, and the internal and external study situation of underwater micro-robots and the key technologies and difficulties of micro-robots are analyzed in detail. The significance and contents of studying are presented.Then this paper presents a new type of underwater biomimetic micro-robot driven by ionic conducting polymer films (ICPF). The propelling principle and basic swimming characteristics of the micro-robot are analyzed. Through the analysis of the kinematics and dynamics of the microrobot, the theoretical model is build up.Two correlative motion control method are introduced. They are automatic navigation based on photo sensor and target identification and track based on image manipulation under static state. The theory of Camshift algorithm and tracing algorithm are explained in detail.Finally, the summary and prospects of the whole research work are presented.