仿蝌蚪与螺旋的泳动机器人系统的设计  

DESIGN OF A TADPOLE-LIKE SWIMMING ROBOT WITH SPIRAL-TYPE HEAD

作　　者：陈柏[1] 顾大强[1] 潘双夏[1] 钟杰[2] 

机构地区：[1]浙江大学机械工程系,杭州310027 [2]浙江大学信息电子工程系,杭州310027

出　　处：《机械工程学报》2005年第10期88-92,共5页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(50375143)。

摘　　要：提出一种无损伤驱动的仿蝌蚪泳动与螺旋的微型机器人。该机器人巧妙地利用血液作介质,在机器人前进和后退过程中分别采用波状泳动和螺旋式泳动方式动作。在整个运行过程中微型机器人与血管壁之间不发生直接接触,因而对血管壁无损伤。同时,针对内窥镜机器人在封闭管道中工作的特点,提出该机器人系统的无线控制与信息采集、传输子系统的设计方案。整个无线机器人系统设计方案已经被试验证明是可行和有效的。A novel wireless tadpole-like micro robot with spiraltype head is proposed. It imitates the swimming principle of tadpole to go forward suspendedly. Also, along with the rotation of spiral head, the adhesion traction is formed to drive the micro robot to go backward or adjust the location. The film can prevent direct contact between the micro robot and the pipelines. So it is non-invasive driving method. A branch system of the image acquisition, wireless transmission and control is designed to integrate with the driving system. All the designs of the physical system of the micro robot are proved feasible and valid experimentally.

关 键 词：泳动机器人 仿蝌蚪 螺旋 无损伤 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]