微小气动机器人的移动控制  

Locomotion Control for Miniature Pneumatic Robots

作　　者：于莲芝[1] 愈令蔚[1] 刘国现[1] 

机构地区：[1]上海理工大学光电信息与计算机工程学院,上海200093

出　　处：《控制工程》2010年第2期245-247,255,共4页Control Engineering of China

基　　金：上海理工大学博士启动基金资助项目(10D209)

摘　　要：根据仿生尺蠖运动机理研制了一种用于人体腔道微创诊查的气动微机器人系统。该机器人系统由前支撑单元、后支撑单元和具有3个气室的橡胶驱动器三部分组成。设计了控制机器人移动的计算机电-气控制系统,通过控制该电-气系统的继电器和高速开关电磁阀来控制机器人系统的钳位气囊和驱动器气室内的气压。通过分析一个运动周期内机器人的运动状态,给出了机器人移动的控制算法,使机器人前、后支撑单元的气囊和驱动器的气室实现有规律的充气、保持及放气3种状态,从而实现有规律的运动。研究结果表明所设计的机器人具有仿生尺蠖移动机理的柔性结构,通过所设计的电-气控制系统可实现机器人的自动移动。A miniature robot system is designed for inspection in human cavities based on the inchworm moving mechanism.The structure of the robot consists of a front holding unit,a rear holding unit and a rubber actuator with three air chambers.The electro-pneumatic pressure control system is designed for the locomotion of the robot.The pressures in the holding air chambers and the actuator air chambers are controlled by the relays and the high-speed electromagnetic valves of the control system.By analyzing the robot moving modes in one cycle,the control algorithm for its locomotion is designed.The three states of charged,preserved,and discharge of air chambers are kept for the robot locomotion.The study results show that the designed robot is inchworm moving mechanism with flexible structure,and it can move automatically by the electro-pneumatic computer control system.

关 键 词：微小机器人 运动状态 电-气控制系统 移动控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]