Analysis on causes for velocity fluctuation of ICPF actuated fishlike micro-robot - 文章详情页

作者：

Nie, Lin (Nie, Lin.) | Li, De-Sheng (Li, De-Sheng.) (学者：李德胜) | Dong, Tian-Wu (Dong, Tian-Wu.) | Chen, Wei (Chen, Wei.) | Guo, Shu-Xiang (Guo, Shu-Xiang.)

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摘要：

In　order　to　make　a　novel　fish-like　flexible　micro-robot　actuated　by　ICPF　meet　well　with　the　needs　of　microsurgery　of　bloodvessel　and　industrial　pipeline　inspection　in　such　area　as　medical　treatment　and　industry,　theoretical　analysis　for　the　micro-robot　is　needed.　For　analyzing　the　characters　of　the　robot　and　improving　the　reliability　and　feasibility　of　the　robot,　a　dynamic　model　of　the　micro-robot　is　established　by　applying　Kutta-Joukowski　theorem.　Then,　the　velocity　analysis　of　the　micro-robot　in　the　time　range　of　3　second　is　investigated.　At　last　the　relation　between　the　swing　angle＇s　amplitude,　phase　and　frequency　of　the　robot＇s　tail　and　the　velocity　of　the　micro-robot　is　theoretically　analyzed　and　several　simulation　graphs　about　the　micro-robot　are　performed.

关键词：

Microrobots Medical robotics Fish Robot applications

作者机构：

[ 1 ] [Nie, Lin]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
[ 2 ] [Li, De-Sheng]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
[ 3 ] [Dong, Tian-Wu]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
[ 4 ] [Chen, Wei]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
[ 5 ] [Guo, Shu-Xiang]Department of Intelligent Mechanical Systems, Kagawa University, Kagawa 761-0396, Japan

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