无缆微型游动机器人驱动磁场系统的研究

提出了一种基于组合线圈结构的磁场系统驱动实验方案,以实现基于磁致伸缩薄膜驱动器的泳动微型机器人的磁控驱动与游动实验参数的检测．首先介绍了该组合线圈的功率优化与设计方法,然后分析了保证一定区域内磁场均匀性的技术方案,最后用ANSYS软件对所设计的组合线圈进行了仿真和验证．实验结果表明该组合结构磁场系统的性能可以满足无缆微型机器人的磁控驱动的设计要求．     

外磁场驱动医用微型机器人的研究现状与展望

介绍了国内外关于外磁场驱动控制微型机器人的最新研究成果,并对其作业机理进行了分析. 分析表明外磁场无缆驱动控制方法是提高体内医疗微型机器人实用性的有效途径和技术关键．结合我们开发研制的外场驱动微型游动机器人的实际情况,指出了目前无缆外磁场驱动微型机器人存在的问题,并对体内游动型微型医疗机器人实用化的关键技术和发展趋势进行了探讨．     

管道机器人无线发射装置磁场分布研究

针对管道机器人无线通信定位精度低和距离近的问题,提出一种管道机器人发射装置的并行多级线圈结构,提高空间中电磁线圈的磁场发射强度.利用ANSYS对不同匝数的单级线圈进行仿真,仿真结果表明在线圈激励电压一定的情况下,线圈产生的磁场的强度与线圈匝数无关;在符合技术等指标要求下,线圈的产生的场强大小与线圈的级数成正比关系.     

不规则直流线圈磁场的计算方法研究

将不规则直流线圈等效为若干段载流直导线的组合,通过坐标变换和磁场变换计算出单根载流直导线的磁场,进而叠加求和得到整个不规则直流线圈的磁场.计算示例表明,该方法计算不规则直流线圈的磁场简单易行,可用于实际工程中线圈磁场的计算.     

基于DDS技术的胶囊微机器人外旋转磁场驱动方法

针对微机器人有缆驱动的缺点,介绍了一种以外旋转磁场驱动内嵌永磁体的胶囊微机器人游动的无缆驱动方法。阐述了胶囊微机器人的驱动原理与旋转磁场的产生方法,并结合直接数字频率合成（DDS）技术,开发了以单片机AT89S52和DDS芯片AD9854为核心的旋转磁场驱动信号源。对系统进行软硬件设计和调试,产生的两路正余弦信号可驱动两组亥姆霍兹线圈产生旋转磁场。     

微型仿生四足机器人的研究

介绍了一种微型仿生四足机器人,对其机械结构和运动方式进行了理论分析和软件仿真,并制作了机器人样机,其长度41 mm,宽度49 mm,高度29 mm.利用两套平面连杆机构的有效组合,模拟了足式运动的抬腿、前跨、后拉等动作,通过可旋转式的机身实现机器人的转向,以微型电机配合微型齿轮减速器作为机器人驱动源.     

磁驱动微型机器人的智能控制发展现状

低强度磁场无线驱动的微型机器人可以在狭小空间中运动并完成复杂作业任务,如靶向给药、微操作及环境检测等。本文旨在总结磁驱动微型机器人的智能控制发展现状,主要包括智能控制方法在以下方面的应用：从刚性结构到柔性结构的磁驱动微型机器人,从单一运动模态到多种运动模态的磁驱动微型机器人,从开环控制到闭环控制的磁驱动微型机器人,从单个个体到单个群体再到多个个体的磁驱动微型机器人。最后,展望了磁驱动微型机器人的未来发展方向,包括更大空间的磁驱动装置,更多运动模态的微型机器人,软体结构的医疗微型机器人,微型机器人自主导航和多个磁驱动微型机器人的控制。     

直接驱动机器人单关节控制系统的研究

本文研究以ＰＷＭ装置供电的直流电动机驱动的直接驱动机器人单关节控制系统。用８０９８单片机实现模控制结构控制器，使系统在各种工况下有良好的性能。文１研究了机器人单关节电机驱动的控制问题。采用该法可减少受系统参数和负载力矩变化的影响，本文用模控制结构方法来处理问题。理论分析和实验均证明，所用方法具有很强的鲁棒性。系统参数在１００倍范围内变化时，系统都有很好的品质。     

基于Labview的舵机驱动爬壁机器人CPG神经网络运动控制的实现研究

针对舵机驱动爬壁机器人的机构特点,提出一种用Labview实现舵机驱动爬壁机器人CPG神经网络运动控制的方法．首先,基于仿生运动控制的概念构建出舵机驱动爬壁机器人神经网络运动控制模型．然后,将机器人的平面自由运动分解成直线运动和转弯运动的组合,并结合CPG神经网络信号波形特点,完成机器人相应的实际运动控制信号的生成与输出．最后,通过机器人平面运动控制的实验研究,验证了所提控制方法的有效性．     

基于蚯蚓原理的多节蠕动机器人

介绍了多节蠕动机器人的机体构造和运动原理，建立了机器人运动模型并进行了分析. 阐述了该机器人系统的控制组成和软件设计. 讨论了机器人在不同倾角橡胶管道内的驱动性能试验.进行了机器人温度试验及转弯性能试验.结果表明：该微小型机器人运行可靠、平稳，控制方便，有一定的爬坡能力；连续工作时机器人温度不超过35℃；可通过大于36mm的弯曲半径.该研究为非结构环境狭小空间及人体消化道探察机器人的研制奠定了基础．     

胶囊式微型机器人驱动转矩的研究

提出一种外旋转磁场驱动的具有径向间隙自补偿功能的胶囊式微型机器人模型．对机器人的驱动转矩特性进行了研究,建立了磁驱动转矩数学模型．根据机器人在流体中的阻力矩特性,研究了磁驱动转矩克服流体阻力矩引起的机器人丢步转速现象,分析了丢步转速与螺旋结构参数的关系．游动试验表明,机器人磁驱动系统没有发生丢步现象,通过径向间隙调整,可以实现胶囊机器人推力与阻力矩的控制．     

Kinematics and deformation of ferrofluid droplets under magnetic actuation

This paper reports the experimental results on kinematics and deformation of ferrofluid droplets driven by planar coils. Ferrofluid droplets act as liquid magnets, which can be controlled and manipulated by an external magnetic field. In our experiments, the magnetic field was generated by two pairs of planar coils, which were fabricated on a double-sided printed circuit board. The first pair of coils constrains the ferrofluid droplet to a one-dimensional motion. The second pair generates the magnetic gradient needed for the droplet motion. The direction of the motion can be controlled by changing the sign of the gradient or of the driving current. Kinematic characteristics of the droplet such as the velocity–position diagram and the aspect ratio of the droplet are investigated. The analysis and discussion are based on the different parameters such as the droplet size, the viscosity of the surrounding medium, and the driving current. This simple actuation concept would allow the implementation of lab-on-a-chip platforms based on ferrofluid droplets.     

一种简化的室内机器人电磁定位算法与系统

文章提出了一种简化的室内机器人的电磁定位算法。在定位空间内布置一个发射线圈和一个三轴接收线圈,形成电磁耦合系统。以接收线圈三轴为参考建立空间直角坐标系,并对发射线圈加载正弦电信号作为激励信号,产生交变电磁场。接收线圈感应到磁场的变化,通过测量计算感应耦合的强度特征值,确定移动目标的位置参数。本系统将三轴接收线圈固定,而将水平发射线圈置于平面移动机器人目标之上,这样可将定位算法简化。根据磁偶极子模型,提出了解析计算方法。通过仿真和实验,证明该方法能够满足室内机器人的定位要求,是可行且有效的。     

Design multiple-layer gradient coils using least-squares finite element method

The design of gradient coils for magnetic resonance imaging is an optimization task in which a specified distribution of the magnetic field inside a region of interest is generated by choosing an optimal distribution of a current density geometrically restricted to specified non-intersecting design surfaces, thereby defining the preferred coil conductor shapes. Instead of boundary integral type methods, which are widely used to design coils, this paper proposes an optimization method for designing multiple layer gradient coils based on a finite element discretization. The topology of the gradient coil is expressed by a scalar stream function. The distribution of the magnetic field inside the computational domain is calculated using the least-squares finite element method. The first-order sensitivity of the objective function is calculated using an adjoint equation method. The numerical operations needed, in order to obtain an effective optimization procedure, are discussed in detail. In order to illustrate the benefit of the proposed optimization method, example gradient coils located on multiple surfaces are computed and characterised.     

体内微型机器人的全方位旋进驱动特性

提出了一种由外旋转磁场驱动的体内微机器人．它以相邻径向异向磁化瓦状多磁极圆筒形NdFeB永磁体为外驱动器，以机器人内嵌同结构的NdFeB永磁体为内驱动器，外驱动器旋转时产生旋转磁场，通过磁机耦合作用于内嵌驱动器形成机器人驱动力矩，在本体外表面螺纹与流体动压力的作用下，实现机器人在管道内的在线旋进．在建立微机器人游动模型的基础上，以垂直管道为试验环境，研究了机器人的全方位驱动特性，试验结果表明机器人可以实现管道内全方位驱动．     

3D environmental extremum seeking navigation of a nonholonomic mobile robot

A nonholonomic under-actuated robot with bounded control travels in a 3D region. A single sensor provides the value of an unknown scalar field at the current location of the robot. We present a new kinematic control paradigm to drive the robot to the maximizer of the field, which is different from conventionally trying to align the velocity vector with the field gradient. The proposed strategy does not employ gradient estimation and is non-demanding with respect to both computation and motion. Its mathematically rigorous analysis and justification are provided. Simulation results confirm the applicability and performance of the proposed guidance approach.     

Enhanced locomotive and drilling microrobot using precessional and gradient magnetic field

We propose a new electromagnetic actuation (EMA) system for an intravascular microrobot with steering, locomotion and drilling functions. The EMA system consists of 3 pairs of Helmholtz coil and 1 pair of Maxwell coil. Generally, Helmholtz coils can align a microrobot in a desired direction by generating a uniform magnetic flux. If the uniform magnetic field generated by Helmholtz coils can be rotated, a microrobot with Helmholtz coils can also be rotated. On the other hand, a Maxwell coil, which generates a constant gradient magnetic flux, can supply the propulsion force for the microrobot. A microrobot actuated by the proposed EMA system has a spiral shaped body containing two magnets with different magnetization directions. With the proposed EMA system, the microrobot can move to the target region and perform drilling there by the precessional magnetic field of the Helmholtz coil pairs. The propulsion force for the microrobot is produced by the gradient magnetic field generated by the Maxwell coil pair. The moving velocity and the drilling performance of the microrobot can be increased by the propulsion force of the Maxwell coil pair. Through various tests, the feasibility and enhancement of the microrobot actuated by the proposed EMA system were verified.     

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.