Study Of Bidirectional Ciliated Micro-robot Based On Terfenol-D

Due to their small size,precise devices,fine operation,unconstrained,and controllable characteristics,micro-robots are able to perform various tasks in the fields of medicine and biology,such as intravascular targeted drug delivery,minimally invasive surgery,and collection,transportation,separation and detection of cells and biological macromolecules.While the driving and control methods for micro-robots are also a major problem at present.For this reason,many different motion modes have also been proposed.The driving and control methods based on magnetic field control have the advantages of good controllability,easy implementation and low damage is attracting more and more research eyes.As a new type of material,Terfenol-D alloy is the most typical giant magnetostrictive material.It has a huge magnetic elongation coefficient,a high electromechanical coupling coefficient,quick response and a good structural performance,which has attracted many scholars' concern.This project aims to develop a micro-robot based on high efficiency magnetic drive material Terfenol-D that uses bidirectional cilia' resonance frequency characteristics to achieve motion.This thesis mainly studies the design and system construction of magnetron micro-robot based on Terfenol-D.It can be divided into the following parts:Firstly,the research status of magnetron micro-robots in a few years is briefly explained and analyzed,and the research content and research focus of this subject is determined.Then modeling and mechanism research of magnetron micro-robot systems is present,including micro-scale down-scale effects,micro-robot driving methods and performance characteristics of giant magnetostrictive materials.Then the 3D printing technology is used to manufacture the soft and elastic micro-robot base.The length of the whole micro-robot is about 15mm.Next,the coil system platform has been designed,simulated and constructed.It is finally determined to be a 60×60mm magnetic field control platform,and its measurement and calibration.At the same time,the software and hardware of the control system are also selected.Finally,the magnetic control system built is experimentally verified.Through the experimental research and data analysis,the feasibility of the vibration control of the magnetron micro-robot proposed in this paper is obtained,and the frequency of the driving signal can be changed by changing the frequency of the driving signal.At the same time,the intensity of the driving signal can be appropriately increased to increase the magnetic field strength to increase the moving speed of the micro-robot.The maximum speed of the micro-robot can reach 2.9 mm/s near the magnetic field strength of 8.9 mT and the driving frequency of 60 Hz.The micro-robot proposed in this paper can realize the bidirectional motion compared with the micro-robot driven by magnetic force and magnetic torque.It is expected to have better development prospects in the biomedical field.