The Study Of Crawling Driving Mode Based On Magnetorheological Fluids

The development of contemporary science and technology requests that microminiaturization in a lot of field, and the electromechanical system is no exception. The study on Micro Electro Mechanical System (MEMS) is very active in the world in recent years, the research results of all kinds of micro-robot are emerging constantly, and it has already become great scientific and technological direction of development of world interest. Micro-robot is used to replace mankind work under dangerous occasion and abominable environment, finish the task that the traditional technological can not solve. Because restricted by homework space, it is very difficult for micro-robot to adopt the routine drive way and drive organization, it must work out the novel drive way and corresponding driver.The article put forward a crawling driving mode in micro-robot based on a new developing intellectual material of Magnetorheological fluids (MRF). Intellectual characteristic of utilizing the Magnetorheological fluids characteristic can control and crawling the alternative change of both ends weight, change with time by achieving the frictional force received of both ends, and achieve crawling. Using ADAMS modeling and dynamic simulation software, we have made overall simulation and analysis to the crawling driving way based on MRF, and combining a large number of simulations, we have verified the feasibility of the crawling driving way based on MRF, and analysed the influence of the pivotal parameters on the performance of the crawling kinematic model, and conclude the rule of selecting these pivotal parameters, and maked out the relation that these parameters restrict each other. At last, we have designed the driving controller based on single-chip microcomputer, planned the experiment solution of making the entity of crawling joint.As a branch of basic research of micro-robot, this kind of driving way will put forward a kind of new solution for research of MEMS. Based on this study, we can be made up many joints by single joint and make up one more than flexible crawling machine worm with many degrees of freedom, this survey has important means in pipeline, life person who rescue among the ruins.