Research On Propeller-driven Swimming Interventional Robot

With the development of MEMS technology and the need for new technology of interventionalsurgery, Interventional Micro-robot had become a hot research topic currently at home and abroad.Compared with other interventional robots, the interventional swimming robot had advantages suchlike: non-contact, no friction, little dead zone and low damage, which had been one of the importantselections of the interventional micro-robots. We designed a novel propeller-driven swimmingmicro-robot, the propellers of the swimming robot was composed with a lefthanded propeller, arighthanded propeller and a "straight propeller", propellers worked collaboratively to adjust the forceand moment of the swimming robot, then to adjust the gesture of the swimming micro-robot.Firstly, the paper had an overall design of the swimming micro-robot, we designed a simple andsuitable shape and propulsion system of the robot by FLUENT simulation. For the sealing issue andthe security issue, we made effective solutions.The paper deduced the space general equation of motion of the swimming robot, combined withthe drive scheme; the paper illustrated the achievement of linear motion, Roll, Pitch and Yaw. Basedon the established scheme, the paper achieved Yaw function in different ways whatever the robot instatic or in dynamic, made the robot more flexible.Based on the FLUENT, we got the simulation force and moment of the robot which moved in theliquid with different velocities or angular velocities, in the other side, we got the simulation force andmoment of the propellers which rotated in the liquid with different angular velocities. making theswimming robot’s forces/moments equal to the propellers’ forces/moments, we got a function aboutswimming robot’s velocities/angular velocities and propellers’ velocities/angular, the function willguide the control system of the robot.In the last, the paper designed the circuit of robot’s control system and application system. Thespeed of robot’s DC motor was adjusted by PWM, the system included the control module, the drivermodule and the wireless remote control module, to adjust the speed and the forward/reverse of themotor, and then we can control the gesture of the swimming robot. Because of the need for imageacquisition system by interventional robot system, we designed a high-efficiency, low power andsmall size image acquisition and wireless transmission system.