一种新型管道内微机器人的研究

本文描述了一种微管道机器人的结构与控制,分析 了这种微管道机器人的移动原理,该机器人借用仿生学原理,结构独特、简单、新颖,运行 速度快,能方便地实现前进和后退,可以在各种形状的弯管内运行．具有自学习功能,实现 了智能控制．该机器人的直径为8mm,最小长度为16mm,最高运动速度为40mm/s,牵引力大于 0.5N．该机器人可用于核电站航天飞机等其他特殊领域的微小型管道的检查,维护．     

仿蚯蚓蠕动微机器人牵引与运动控制

为进入人体腔道开展作业,开发了一种直径6mm的仿蚯蚓多关节蠕动微机器人样机．机器人使用十字万向节连接直线驱动器,在弯曲腔道中能自适应改变自身姿态．基于Preisach模型和偏转模型,提出了形状记忆合金偏转机构的前馈控制方案,头舱控制最大偏转误差为2.6°．基于新型蠕动原理,建立了牵引模型,给出了有效驱动的条件．对机器人的牵引力、运动速度、在不同摩擦系数介质表面上的运动能力、头舱姿态进行了试验．结果表明,机器人的爬坡能力依赖于机器人和运动表面间的摩擦系数,新型蠕动原理能提供较大的牵引力,合适的驱动频率下可以得到最大的运动速度．     

星面探测仿生弹跳机器人设计、仿真及实验

基于袋鼠的跳跃运动机理和齿轮—五杆组合机构,设计了一种用于星面探测的小型间歇式弹跳机器 人．提出了仿袋鼠结构、运动形态及产生非线性弹跳动力的闭链机构的弹跳模型．采用D-H 法建立了机器人运动方 程,并对其跳跃运动步态、仿生运动特性和弹跳效率进行了分析,给出了该机器人设计的整体结构．运用ADAMS 软件对机器人进行动力学建模与全过程运动仿真,验证了该闭链仿生弹跳机构及其运动的有效性,较大幅度提高了 弹跳机构对能量的利用率,其效率可达70%,避免了弹跳机器人提前起跳．最后设计制作了弹跳机器人原理样机, 并进行跳跃试验．试验结果表明：样机试验与仿真结果基本是一致的;1.4 kg 的弹跳机器人跳远度为813 mm,跳高 度为471 mm,从而解决了利用微小电机驱动机器人实现弹跳运动的问题．     

全方位越障移动机构研究

针对清洗壁面作业对机器人提出的特殊要求,研制了可越障轮式全方位移动机构—— -车轮组机构,该机构保证机器人在姿态保持不变的前提下,沿壁面任意方向直线移动、或 在原地旋转任意角度,同时能跨越存在于机器人运行路径中的障碍．该机构不需要传感装置 来检测障碍,不需要复杂的辅助机构来实现平面上运动和越障运动之间的转换．     

一种基于粘滑运动原理的微小型机器人建模与实验

为实现微小型机器人的精密运动定位,提出一种基于粘滑运动原理的足式微小型机器人.机器人足由双压电膜驱动,本身为空间不等截面的弹性梁结构.首先建立了柔性足的有限自由度模型和机器人系统的动力学模型.然后根据粘滑驱动中的粘滞和滑移过程的不同特点,分别对粘滞过程的静力学与滑移过程的瞬态动力学进行了分析,得到了机器人运动位移、分辨力与驱动电压之间的关系,并分析了粘滞-滑移过程中摩擦力的变化以及足尖的状态切换过程.分析结果表明,在粘滞阶段,基体的静态位移与驱动电压近似呈线性关系,且随驱动电压的增高而增大;在滑移阶段,由于柔性足的振动及振动与摩擦力的耦合关系,足端的滑移距离及基体位移与驱动电压之间存在非线性关系.建立了机器人样机,对机器人的运动分辨力和位移响应进行了测试,实验数据显示,基于粘滑运动原理,机器人可以实现0.88μm的高运动分辨力.     

微小气动机器人系统的模糊自适应PID控制

基于尺蠖的移动机理,研制了一种具有柔性移动机构的微小气动机器人内窥镜诊疗系统。描述了微机器人系统的本体结构和运动机理,并通过分析机器人系统的驱动力学特性和机器人的移动控制特性,给出了基于模糊自适应PID的气压-位置伺服控制方法,计算机仿真实验结果表明基于模糊自适应PID算法可实现机器人系统的有效控制。     

毫米级全方位移动微型装配机器人设计、运动学分析与控制

介绍了一种用于微型工厂的毫米级移动微装配机器人,其具有独特的全方位运动结构．微机器人由4个直径3 mm的电磁微马达驱动,并装备有一对微型夹钳．通过分析运动学矩阵的秩,证明了微机器人的全方位特性,并建立了微夹钳的运动学方程．设计了基于计算机视觉的微机器人控制系统,给出了微机器人定位和驱动方法．实验证明了微机器人的负载能力、机动性以及控制系统的有效性．     

两栖机器人轮桨腿驱动机构多目标优化设计

提出了一种既能够在陆地上爬行,又能够在一定深度的水下浮游和在海底爬行的新概念轮桨腿一体化两栖机器人;多运动模式和复合移动机构是该机器人的突出特点．分析了轮桨腿复合式驱动机构的运动机理,并采用多目标优化设计理论和算法,对驱动机构的爬行性能和浮游特性进行了综合优化,得到了两栖机器人驱动机构的结构优化参数．虚拟样机的仿真结果证明了该轮桨腿一体化两栖机器人驱动机构的综合运动性能良好,对非结构环境具有一定的适应能力．     

模块化可重构履带式微小型机器人的研究

研制了一种模块化可重构履带式微小型机器人．单个微小型机器人可以独立运行,多个微小型机器人可以重构成链形机器人和环形机器人．微小型机器人结构紧凑、体积小、重量轻．采用了微控制器和PC机两级控制体系,两级间采用蓝牙通讯．实验结果验证链形机器人具有较强的越障能力,能爬越楼梯;环形机器人具有高速及路面适应能力强的特点．     

可跳跃式移动机器人机构设计及实现

构建了一个具有跳跃能力的移动式机器人．机器人在较平坦地形下采用轮式移动方式前行;遇到障碍物或沟渠时,可以进行跳跃,从而扩大运动范围．介绍了机器人机械系统的总体结构,给出了机器人的本体结构及起跳姿态,并分析了机器人的运动过程．然后,详细分析了机器人的跳跃机构、跳跃参数调节机构、倾覆翻转机构等关键机构的工作原理,给出了机构设计方案．最后,根据总体设计要求选定了机器人的一些关键参数．     

柔性框架式爬行驱动器

为了解决微位移技术中大行程和高分辨率间的矛盾,研制了柔性框架式爬行驱动器,简化了微动工作台的驱动装置。其行程达到毫米级,仍保持较高的分辨率。具体介绍微动工作台的结构和工作原理,柔性框架设计基本模型,电致伸缩移位移器特性分析,爬行驱动器特性分析。     

磁力驱动串联式双腔微泵设计及性能测试

针对无阀微泵背压能力较弱等问题,采用MEMS技术制作出不同结构参数的双腔和单腔微泵体,构建了基于电机驱动的磁力式双腔串联无阀微泵测控系统.实验结果表明,泵腔面积相等的情况下,圆形泵腔的微泵流量大于椭圆形泵腔的流量;随着驱动频率的升高,双腔串联微泵的流量呈现高斯分布,并在20 Hz附近处出现流量峰值,微泵的最大流量可达1.5 mL/min,微泵的截止背压为170 mmH2O,双腔串联微泵比单腔微泵的流量增大约80％.     

三种归结原理间的相容性问题

语义归结、锁归结、线性归结是三种重要的关于归结原理的改进。本文给出如下结果:语义归结和锁归结在某种条件下是相容的;语义归结和线性归结是不相容的;线性归结和锁归结在某种条件下是相容的。显然,任意两种归结的相容方法是对原来两种归结方法的进一步改进。     

A Wireless Robotic Endoscope for Gastrointestine

In recent years, an intelligent noninvasive endoscope has been felt necessary for early diagnosis of malignant tumor in gastrointestine (GI). It is our purpose to develop a microwireless robotic endoscope to examine the human GI. The presented robot's diameter and length is 10 and 190 mm, respectively. A locomotion principle based on biomimetic earthworm is adopted for a higher adaptability to the GI. The robot is composed of three linear driving cells. A micromotor, a reducer, and a microscrew pair mechanism are integrated into each cell. Multijoints are used to connect every two driving cells for robot's high flexibility. The robot's energy is continuously supplied in real time by an energy transmitting system based on electromagnetic coupling. Experiments on the energy transmission and locomotion are performed to test the power transferring volume and locomotion effect in GI. The experiments indicate that the minimum received power, 400 mW, is obtained in a cylindrical space with 200 mm diameter and 200 mm length. In vitro experiments in a pig intestine indicate that this robot can move forward or backward effectively. This paper provides a good prototype for the deeper research on locomotion theory and energy transferring technology in vivo in future.     

Magnetic mechanical capsule robot for multiple locomotion mechanisms

This paper proposes a magnetic mechanical capsule robot which crawls in a fluid-filled tube. The developed capsule robot employs two locomotion mechanisms simultaneously. It has spiral ribs at both ends, which are rotated by a small on-board motor. Such rotating spiral structures generate a driving force of the capsule robot. We invented a magnetic mechanical mechanism to transfer the rotational motion of the frontal part into the linear motion of the middle part. Using this original mechanism, the linearly moving part at the middle of the capsule robot generates a supportive driving force. The improved mobility is evaluated in experiments. The developed capsule robot employing multiple locomotion mechanisms moves 44% faster than the spiral motion-based capsule robot. The developed magnetic mechanical mechanism and the mobile robotic platform could be used for pipe inspection robots or medical robots.     

空间激光通信系统精跟踪单元PZT驱动电源的设计

压电陶瓷驱动电源是压电陶瓷微位移器应用中的关键部件。PA85是一种高电压、高功率MOSFET的带宽运算放大器,采用双电源供电,输出电流高达200mA,输出电压更可高达±215V。该文详细介绍了基于PA85的一种电源复合放大器的设计及仿真,通过对各项性能指标的仿真表明,该驱动电源具有精度高、分辨率高、稳定性好、纹波小和电路结构简单等优点。     

基于双声表面波器件的引信加速度传感器

In view of the shortcomings of silicon micro acceleration sensor based on piezoresistive effect and capacitance principle, such as temperature drift, low resolution and poor anti-interference ability, a fuze acceleration sensor based on dual SAW devices is proposed. The sensor adopts a dual saw device structure, one is coated with a sensitive film for measurement, the other is an uncoat- ed reference channel for compensation of environmental temperature, pressure, humidity and other factors. The experimental results show that the maximum linear error is only 1.6%, the sensitivity is 54.3Hz/g, and the maximum hysteresis error is less than 1%. Compared with piezoresistive accelerometer and capacitive accelerometer, the linear error of the accelerometer is small, the sensitivi- ty is high, and it has strong anti-interference ability.     

Fully‐integrated active matrix programmable UV and blue micro‐LED display system‐on‐panel (SoP)

High pixel per inch and high‐resolution micro‐LED displays are attracting more and more attentions. The increasing pixel number requires a large amount of bonding pads and brings huge difficulties to micro‐LED system design and lowers power efficiency as well. It is urgent to integrate row and column driving circuits onto the micro‐LED panel. Here, we report a fully integrated active matrix programmable micro‐LED system on panel (SoP) with ultraviolet and blue emission wavelengths. The micro‐LED SoP has a resolution of 60 × 60 and pixel pitch of 70 μm. The micro‐LED SoP was achieved by integrating micro‐LED arrays with silicon‐based p‐channel metal‐oxide semiconductor driving panel using fine‐toned flip‐chip bonding technology. With fully integrated scan and data circuits, the number of bonding pads was greatly reduced from 136 to 28, and large amount of metal interconnection lines were saved. The micro‐LED SoP panel was mounted on a periphery driving board, and representative characters were displayed successfully.     

Analysis and test of a new MEMS micro-actuator

A large-deformation and low-voltage micro actuator is proposed in this paper to overcome the problems of high voltage and undersized deformation of electrostatic micro actuator. The principle of the proposed actuator is based on vertical-horizontal bending. Dynamic equations of the micro actuator under axial and horizontal loading are built based on Lagrange–Maxwell electromechanical dynamics equations. In addition, the influences of thermal stress, axial electrostatic force and squeezing force are analyzed. Furthermore, the horizontal distributed load and axial load are equivalent to horizontal centralized load based on the Runge–Kutta algorithm and finite difference method. The relationships of deformation with driving voltage, regulation voltage, and axial compression quantity and temperature difference are achieved by simulation. Simulation results show that the deformation of the proposed actuator is as high as 10.861 μm when the driving voltage is 16 V. The deformation of proposed micro actuator is larger than that of the existing one. Finally, the simulation results are verified by experiment and agree well with experiment results.