基于4 mm电磁型微马达的管道检测微机器人系统研究

介绍了一种基于4 mm微型马达的微小机器人系统的设计及制作.新颖的电磁型微马达的设计使得微机器人具有较强的驱动能力和一定的负载能力;全方位的结构设计使得微机器人具有高机动性;同时,利用视觉实现机器人与外部环境相互感知,并在其基础上对整个机器人系统的控制结构设计进行了探索.     

基于4mm电磁型微马达的管道检测微机器人系统研究

介绍了一种基于 4mm微型马达的微小机器人系统的设计及制作。新颖的电磁型微马达的设计使得微机器人具有较强的驱动能力和一定的负载能力 ;全方位的结构设计使得微机器人具有高机动性 ;同时 ,利用视觉实现机器人与外部环境相互感知 ,并在其基础上对整个机器人系统的控制结构设计进行了探索     

基于4 mm电磁型微马达的管道检测微机器人系统研究

介绍了一种基于4mm微型马达的微小机器人系统的设计及制作。新颖的电磁型微马达的设计使得微机器人具有较强的驱动能力和一定的负载能力；全方位的结构设计使得微机器人具有高机动性；同时，利用视觉实现机器人与外部环境相互感知，并在其基础上对整个机器人系统的控制结构设计进行了探索。     

用于微装配的三维微力传感器的研究

采用硅基应变片设计了一种可用于精密微装配作业过程,检测x、y、z方向微接触力的三维微力传感器;经微小改动后,该传感器可成为五维微力传感器。分析了力传感器测量原理,建立其测量模型,并设计了传感器信号放大电路。测试了微力传感器的性能指标,在x、y、z3个方向的微力测量分辨率为0.001 N,测量精度可达0.005 N,测量范围为-0.5~ 0.5 N。最后设计了微装配作业控制系统,并利用该传感器实现力位移混合控制,顺利完成了180μm微型轴与200μm微型孔间的精密微装配实验研究。     

微型机器人集群短距离相对定位方法

对平面内微机器人集群短距离相对定位问题进行了研究,针对微机器人尺寸小的特点,利用红外发送器、红外接收器和磁阻传感器相配合的方法实现了微型机器人集群的相对定位,分析了该相对定位方法的误差来源.仿真计算和实验结果证明了上述方法的可行性.提出的相对定位方法具有精度高、无积累误差、分布式、快速和可扩展等优点.     

工业机器人的定位系统设计

为了使工业机器人能快速准确地对不同形状、不同高度的工件进行识别、定位、抓取和装配,采用PLC、智能相机、生产线和工业机器人搭建了基于机器视觉的工业机器人定位装配系统。利用智能相机多特征视觉定位方法,编写程序实现工业机器人对随机放置的不同形状、不同高度的工件进行识别、定位和抓取,并通过设计二次定位机构,实现对工件的精确装配。实验测试结果表明,该系统定位准确可靠,精度满足社会生产需要,具有重要的现实意义。     

基于红外的微机器人集群自主通信转接控制方法

对多障碍物环境下微机器人集群自主通信转接的控制问题进行了研究.结合微机器人尺寸小的特点,采用低功耗的红外通信方式,利用载波侦听多路访问技术实现了多移动微机器人间的红外通信.在红外通信的基础上,建立了基于弹簧阻尼系统的自主通信转接控制模型,设计了相应的控制器以实现微机器人的运动控制,进而实现微机器人集群的自主通信转接.仿真结果验证了该控制方法的有效性.     

压电陶瓷管驱动三自由度微操作手的研究与应用

基于机构、驱动、检测一体化的设计思想，研制出压电陶瓷管驱动的三自由度微操作手，研究了微操作手的建模、驱动与位置检测，给出了静力学建模公式，研制出双极性压电陶瓷驱动电源、微位移检测电路，并构成高精度位置闭环控制系统，实现了纳米级微动定位。最后以微操作手为核心构成微操作机器人系统，通过微操作手的微动调整，成功完成了直径为Φ0.2mm轴孔零件的微装配任务。     

微定位仿生机器人的设计与实验研究

根据尺蠖运动原理设计了一种新型微定位仿生运动模块．以压电陶瓷作为驱动元件．柔性铰链为导向机构，实现大范围移动和高精度定位。采用模块化设计思想，将两个运动模块集成，研制成功两维微定位仿生运动机器人。研制压电陶瓷驱动双重杠杆放大的刻字作业工具，并与微定位机器人结合实现了光盘表面的刻字作业，验证了系统的有效性。     

微装配技术的研究进展及其展望

微装配是电子制造、微制造、机器人操作等制造领域的共性前沿技术之一,近年来得到了广泛的研究与应用.首先,指出了微装配技术与纳米装配技术的本质区别,阐明了尺度效应和粘附效应给微装配技术带来的问题与挑战;分别介绍了传统微装配技术和新兴自装配技术的最新研究进展,讨论了一些急待解决的关键技术问题;最后对微装配技术的研究趋势进行了展望.     

Automatic microassembly system assisted by vision servoing and virtual reality

We proposed an automated micromanipulation workcell for visually servoed teleoperated microassembly assisted by virtual reality techniques. It is composed of two micromanipulators equipped with microtools operating under a light microscope. Visual servoing techniques are applied for efficient and reliable position/force feedback during microassembly tasks. First, a pushing-based micromanipulation strategy for the microobject to follow a planned trajectory is proposed under vision based-position control. Then, we present the cooperation control strategy of the microhandling operation under vision-based force control integrating a sensor fusion framework approach. A guiding-system based on virtual microworld exactly reconstructed from the CAD-CAM databases of the real environment being considered is presented for the imprecisely calibrated microworld. Finally, a planned scenario is executed and experimental results of microassembly tasks performed on millimeter-sized components are provided.     

Swimming microrobot actuated by two pairs of Helmholtz coils system

Various electromagnetic based actuation (EMA) methods have been proposed for the actuation of microrobots. The advantage of EMA is that it can generate a wireless driving force for the microrobot, and this is the reason why many researchers have focused on the EMA driven microrobot. This paper proposes a swimming microrobot driven by an external alternating magnet field using two pairs of Helmholtz coils. The microrobot with a fish like shape consists of a buoyant robot body, a permanent magnet, and a fin. Especially, the fin is directly linked to the permanent magnet and is swung by the alternating magnet field. The external alternating magnetic field generates the propulsion and steering force of the microrobot. In this paper, firstly, we design and fabricate the EMA coil system and the tadpole type microrobot. Secondly, we propose the locomotive mechanism of the microrobot using EMA. Thirdly, we set up the control system for the EMA driven microrobot. Finally, through various experiments, we demonstrate and evaluate the performance of the swimming microrobot.     

压电陶瓷驱动三自由度精密移动定位微小机器人

使用压电陶瓷堆材料作为微驱动元件，设计了一种三自由度基于尺蠖蠕动原理工作的精密移动定位微小型机器人。采用显微镜作为测量元件，通过测量机器人移动时像素点位置的方法，完成了对该机器人沿X、Y方向的直线移动定位以及绕Z轴的θ角转动定位的试验测试，测试结果证明了设计的合理性与实用性。     

Complete System for Wireless Powering and Remote Control of Electrostatic Actuators by Inductive Coupling

This paper proposes a successful asynchronous remote powering and control of electrostatic microactuators, organized in two distributed micro motion systems (DMMS) with the aim of realizing a wireless microrobot. Remote powering of the integrated circuit (IC) and the microelectromechanical systems (MEMS) components is obtained by inductive coupling at 13.56 MHz, and the digital transmission is created by modulating the carrier amplitude by 25%. The system includes a high-voltage controller IC. It provides a link between the power and data on the receiver antenna on one side, and the actuators of the microrobot on the other. The micromachined antenna is designed to optimize the inductive coupling. The main IC building blocks, such as the received signal rectifier/amplifier, the integrated digital processing and the DMMS actuation voltage generation are given in detail. The demonstrator has successfully achieved the remote control and asynchronous operation under 100 V of two arrays of 1700 electrostatic actuators, having a capacity of 2 nF each     

Manipulation of micro-particles using a magnetically actuated microrobot

Recently, various micromanipulation methods using a microrobot have been studied in medicine and biology. In particular, the methods based on the use of a microrobot actuated by an electromagnetic actuation (EMA) system have received much attention because the microrobot using EMA system has free locomotion and precise controllability. These advantages of an electromagnetic actuated microrobot can be used to manipulate micro-particles. Previously, we proposed a 2-dimensional (2D) locomotive microrobot using EMA system and realized the free 2D locomotion of a microrobot of 10 mm length and 1 mm diameter. In this paper, we propose a microrobot for the manipulation of micro-particles. First, we fabricate a microrobot of desired shape and size by the conventional micro-molding technique. Second, we control the fabricated microrobot by using a 2D EMA system and test its basic performances such as directional controllability and velocity. The results of these basic tests confirmed that the microrobot had precise directionality with direction error from 1.52 deg. to 2.16 deg. and moving velocity range from 2.34 mm/s to 18.67 mm/s. In addition, the microrobot has the positioning errors in the 0.07–0.12 mm range and the propulsion force of the microrobot is continuously changed in proportional to the applied current in Maxwell coil. Finally, the proposed microrobot and its EMA system were tested for their ability to position a micro-particle. The results confirmed that the microrobot using the EMA could be used for the manipulation of various micro-particles.     

A mobile microrobot actuated by a new electromagnetic wobblemicromotor

Microactuators are perhaps the most critical components of micromechatronic systems. Micromotors with diameters in the range between 10-1 mm are needed, but are not readily available for practical use. This paper describes a teleoperated mobile microrobot, actuated by a new electromagnetic wobble micromotor, and designed to participate in the “International Micro Robot Maze Contest" organized every year in Nagoya, Japan. This competition is an excellent benchmark to compare the performance of different microactuators. The working principle, design, fabrication, and performance of the wobble micromotor are described. The microrobot has a volume of 1 cm³ and incorporates two wobble micromotors, the rotors of which are the driving wheels. The micromotor generates a torque of 350 μN·m at each step and a maximum speed of about 180 r/min. The operator controls the motion of the microrobot by a remote joystick connected to the microrobot by flexible ultraminiature wires. The microrobot is highly maneuverable, has a maximum speed of 10 cm/s and can climb a slope of 15°. Two microrobots, which differ only in some constructive details, were fabricated. A smaller version (4-mm diameter) of the wobble micromotor has been developed for use in an innovative miniature robot system for diagnosis and intervention in the colon     

A new type of fish-like underwater microrobot

This paper presents a new prototype model of an underwater fish-like microrobot utilizing ionic conducting polymer film (ICPF) actuator as the servo actuator to realize swimming motion with three degrees of freedom. A biomimetic fish-like microrobot using ICPF actuator as a propulsion tail fin and a buoyancy adjuster for the swimming structure in water or aqueous medium is developed. The overall size of the underwater prototype fish shaped microrobot is 45 mm in length, 10 mm in width, and 4 mm in thickness. It has two tails with a fin driven respectively, a body posture adjuster, and a buoyancy adjuster. The moving characteristic of the underwater microrobot is measured by changing the frequency of input voltage from 0.1-5 Hz in water and the amplitude of input voltage from 0.5-10 V. The experimental results indicate that changing the amplitude and frequency of input voltage can control the swimming speed of proposed underwater microrobot.     

Design and control of a microrobotic system using magneticlevitation

Presents a prototype microrobot based on magnetic principles. Miniature items are to be transported and assembled in hazardous environments. A microrobot can be remotely operated with 3 DOF in an enclosed environment by transferring magnetic energy and optical signals from outside. The magnetic drive unit consists of 8 electromagnets (4 pairs), 2 permanent magnets, a return yoke and a pole piece. The microrobot is manipulated under the pole piece by regulating magnetic field. It consists of a magnetic head, a body (electronic circuit and batteries), and copper alloy ribbon ringers. A shape memory alloy actuator activates the fingers by illuminating/extinguishing several LED. PID controls were applied. To cope with uncertainties and variations in payload masses, an adaptive control law was also employed for positioning along the z axis to enable the controller parameters to be adjusted in real-time. Effectiveness of the control was verified by the results of several experiments. The microrobot has a net mass of 8.1 g and it can elevate and manipulate objects with masses up to 1.5 g within a volume of 29×29×26 mm³ with a precision of 0.05 mm     

基于计算机视觉的课堂实时考勤系统设计

本文基于计算机视觉技术设计了一种课堂实时考勤系统,首先根据MVC架构搭建系统整体结构,然后设计了基于深度学习的计算机视觉模型用于人脸检测和识别,并建立了关系型数据库模型,最后通过Web服务实现实时考勤功能。本系统有利于学校课堂教学管理,具有一定的发展前景。