Research On A Biomimrtic Swimming Robot Proelled By Flagella

The Interventional vascular robot can effectively make up the defects of the traditional vascularsurgery: high radiations and low automation. Nowadays it has become a hot topic in academia. Basedon the fully retrieval and analysis of the research status about vascular robot at home and abroad, theswimming mechansim of bacteria——spiral propulsion attacts attention. This kind of propulsion hascharacteristics of high efficiency and high adaptive at low Reynolds, micro-liquid environment. So akind of biomimetic swimming robot thrusted by rigid helical tails was proposed in this paper. Theswimming mechanism of the robot was theoretical analysed, and experimental prototype of robot wasmanufactured.Four helical tails were been set on the biomimetic swimming robot, two layout at both endsrespectivlely. This design can bring more degrees of freedom to robot. In this paper, the3D model ofthe robot was designed based on the considering of the underwater sealability and the fluid resistance.The key parts of robot was analysed with the finite element analysis software ANSYS. According tothe finished appearance of robot, the structure of helical tail, the robot shape and the distance betweentwo tails were optimizated theoretically.In order to avoid the problems of singular, which were brought by traditional model that wasbuilt based on Euler Angle, a new model based on the quaternion was established. In addition, thefourth order of Runge-Kutta integral method was utilized to simulate and analyse the mathematicalmodel of robot.In the RecurDyn software environment, the virtual prototype system of robot was constructed,and the forces and moments that the robot needs to accomplish the desired trajectory was calculated.On the basis, the control laws of the robot were gotten. Then the interactive mechanical controlsimulation system was bulit based on the RecurDyn and Maltb/Simulink software to analyze themotion performance of the robot.Moreover, the master-slave mode control hardware was designed based on two pieces ofmicrocontrollers of ATmega8. Orthogonal tests were designed to obtain the propulsion of the flagellaand the results of the experiment were compared with the results got from the resistance force theory.Then the prototype of the robot was manufactured to finish the under-oil experiment, which canvalidate the peformace of the robot.