Micro-robot development and research
Abstract: The micro-robot is a micro-electro-mechanical systems an important branch, because it can enter the human and the robot as macro narrow space
Operating, in recent decades has been widespread concern. This article first appeared at home and abroad in recent years and give a few micro-robot, the analysis of
Its basic characteristics and performance of up to discuss the current micro-robot research encountered some key issues, and pointed out the future of these areas
Over a period of time the main research and development direction.
Key words: micro-robot; microactuator
In recent years, the use of MEMS technology, micro-satellites, micro-flight
And enter a narrow space to display the attractive micro-robot application before
King and dual-use strategic significance. Therefore, as MEMS technology
Technique based on the direction of development of precision micro-machining robot technology
Research has become a hot research in this area not only has
Powerful market-driven, but there is a large number of research institutions. To date
Represented by much of the country in this regard the large number of studies, focusing on
Is to develop into the industrial narrow space micro-robot, enter the body narrow space
Medical micro-systems and micro-factory. Internally at the National Natural Science Foundation
Gold, 863 high-tech research and development program under the auspices of Tsinghua has large
Study, Shanghai Jiaotong University, Harbin Institute of Technology, Guangdong Industrial
Study, Shanghai University and other research institutes for micro-robot and micro-operation Department
EC had undertaken extensive research and developed a prototype separately. At present the country
Of micro-robot research focused primarily on three areas [6]: (1)
For gas, chemical, power generation equipment to detect small micro-pipeline machine
People. (2) for the human body, into the intestinal tract of non-invasive treatment of micro-machines
People. (3) for complex mechanical system of non-demolition inspection of micro-machines
People.
1 micro-robot development and research
According to micro-robot to carry out the study the actual situation, we
Focused on the micro-pipe robot, non-invasive medical micro-robot and
Special micro-operation robot.
111 micro-pipe robot
Micro-pipe robot is based on the narrow space within the context of the application mentioned
Out its environmental features are in a small tube into the passageway or gap line
Line detection, repair and other operations. Because of the conventional tube operating under conditions of Central
Have distinctly different habitats, and its operating methods and structural principles of the conventional pipeline machine
Devices are also different people, so in accordance with conventional techniques by means of pipeline robot
Scale are not feasible. In view of this, micro-pipe robot
Should open a new path to walk. In recent years, with micro-electro-mechanical technology
Development and crystal piezoelectric effect and the giant magnetostrictive material magnetic - plane coupling
Technology applications development, so that the new micro-drive the emergence and application to become
Reality. Micro-drive research results has become a micro-pipe robot re -
To develop basic [1].
Nagoya University in Japan developed into a micro-pipe robot can be
Detected for the small pipe, in the biomedical field for the small space
Small job. This robot can be piped outside electromagnetic coil drive
Moving without the need to supply cables. Tokyo Institute of Technology and NEC
Company co-operative research spiral-pipe mobile micro-robot, at a diameter of
Φ2514mm straight pipe with a maximum speed of exercise are 260mm / s, the most
Great traction is 12N. Anthierens French and others developed the application of
Φ16mm Inchworm on the robot, the largest of such micro-robot
Sports speed of 5mm / s, loads up to 20N, with a high exercise
Accuracy, load, but slower and sports complex.
Domestic Shanghai University and Shanghai Jiaotong University have developed the inertial
Impact pipe Micro Robot, Shanghai Jiaotong University using the micro-robot
Stacked-type piezoelectric actuator driven; Shanghai University of micro-robot drive
And there is stacked bimorph thin-film two types [3]. Shown in Figure 1 for dual-pressure
Electric thin-film micro-pipe robot sport of its mechanism, the dual-robot
Piezoelectric thin film drive, as opposed to the single piezoelectric film, increases the drive
Edge, improve the bearing capacity. The agency's largest mobile speed Tatsu
To 15mm / s, with forward and backward, the rise and fall functions.
回答者：匿名 3-14 20:27
The development of miniature robot and study present condition
Summary: Miniature robot's ising a micro-electronics machine is an important branch of the system, because it can get into mankind and macroscopic robot the narrow and small space of can not compare with
Inside the homework, several near was subjected to extensive concern in a decade.This text gave a few miniature robots that appear at home and abroad in recent years first, in the analysis
Discussed currently miniature robot a research in a few key problems meet, and pointed out these realm futures in the foundation of its characteristics and function
The main research that is inside a period of time and develop a direction.
Keyword: Miniature robot; Tiny actuator
In recent years, the miniature satellite, miniature of technique of the adoption MEMS fly
Machine with get into the tiny robot of narrow space before displaying a captivating pplication
View and armed forces and people two use of strategic meaning.Therefore, conduct and actions tiny electricity & machine system skill
One of the Shu development directions of process a tiny robot technique according to the precise machine
The research has become one of international top a little bit hot, the research of this aspect not only has
Strong market push, and have participate of numerous think factorieses.With day
Originally openned an exhibition a great deal of research in this aspect for the representative's many nations, point
BE a development to get into industrial narrow space tiny robot and get into a human body narrow empty
System with tiny medical treatment and miniature factory.The domestic is in the national natural science Ji
Gold, 863 high technique research development plan etc. of under the pecuniary aid have a Chin Hua greatly
Learn, Shanghai transportation university, Harbin the industrial university, Guangdong be industrial big
Learn, University of Shanghai etc. miniature robot and tiny operation that research hospital aim at fasten
Carried on a great deal of research generally, and developped principle kind machine respectively.Currently country
Inside study miniature robot main concentration in three realms[6]: (1)
Face to coal gas, chemical engineering and generate electricity the miniature machine that the equipments small piping probe into
Person.(2) Aim at a human body and get into a have no of bowel way to create the diagnosis and treatment miniature machine
Person.(3) Face to the complicated machine system doesn't dismantle to unload the miniature machine that the check fix
Person.
The development of one miniature robot and study condition
Open the actual circumstance of the exhibition miniature robot research according to the domestic, we
Emphasize the discussion miniature piping robot and have no the medical treatment robot of the wound miniature with
The miniature robot of special homework.
111 miniature piping robot
The tiny piping robot is according to the applied background in the narrow and small space to lift
Of, its environment characteristics is in narrow and small tube form passage or blind side to run about into
Go an examination, maintain etc. homework.Because with under the normal regulations condition take care of inside the homework wreath
The Jing is obviously different and it runs about way and structure principle and normal regulations piping machine
The machine person is also different, therefore according to normal regulations technique the means presses to the piping robot
Comparison's contract isn't viable.Have owing to this, miniature piping robot of
Run about a way in response to open up another Xi path.In recent years along with micro-electronics machine technical of
Development and crystal piezoelectric effect with super Ci with the result that flex material Ci- The machine Ou match
The technique applied development make emergence and application of new tiny actuator become
Reality.The research result of tiny actuator has become tiny piping robot of heavy
Want to develop foundation[1].
The Japanese University of Nagoya develops into a kind of miniature piping robot, can
Used for the examination of small piping, make in the small space of biomedical science realm
Small work.This kind of robot can be get rid of by the electromagnetism coil out of the piping
Move, but need not with the electric cable power supply.Japanese industrial university in Tokyo and NEC
Company cooperation the spiral type of the research tube inside move tiny robot, at diameter is
The Φ 2514 mms keeps inside tube it of biggest sport the speed be a 260 mms/ s, most
Greatly leading dint is 12 Ns.The French Anthierens waited for someone to develop to apply
Robot at the peristalsis type of the Φ 16 mms, this kind miniature robot of biggest
Sport speed is a 5 mms/ s and the load can reach to a 20 Ns and have very high sport
Accuracy, the load is big, but exercises speed more slow and structure complicated.
Local University of Shanghai and transportation university in Shanghais all developped inertial
The impact type piping tiny robot, the tiny robot of transportation university in Shanghai adopt
The layer type presses an electricity actuator to drive; The tiny robot actuator of University of Shanghai
There are layer type and double pressing electricity thin film 2[3].Diagram 1 show to press for the double
Give or get an electric shock the thin film small piping robot its sport mechanism, the robot's adoption double
Press an electricity thin film actuator, opposite press an electricity thin film at the list, enlarged to drive
Dint improve loading ability.That organization of biggest move speed can reach
Arrive a 15 mms/ s, have headway, retreat, ascension with descend function.
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