Study On Swimming Micro Robot In Liquid

Generally , the micro robot is very small in dimension or moves slightly . The study on micro robot is becoming the spot of MEMS(Micro Electronic and Mechanical System) since the robot can enter some very small space to work and explore.There are two modes to propel in liquid : swimming mode and ejecting mode . The screw propeller which is used by ships abroad is one typical application of ejecting mode because it is easy to manufacture and install and is reliable . But it has many shortcomings such as inefficiency , large dimension and heavy weight . Therefore , it is very difficult to apply the screw propeller to micro mobile robot in liquid . So it is necessary to study the swimming mode applied to micro robot.Mainly based on the fish propulsion mechanism , this dissertation is devoted to study the swimming micro robot in liquid . With the development of the study , the swimming micro robot can be minimized in order to work in the very small space which is filled with liquid . For example , it can enter human body to inspect inner organ , deliver drug to assigned spot and operate local body surgery . Supported by the Nation Nature Science Foundation of Mechanism, Structure and Control Study on Swimming Micro Robot in Liquid (Item No.69885002) and Guangdong Province Science Foundation of Research on Swimming Micro Robot in Liquid (Item No. 980402) and Guangdong Province Education Department Foundation of Research on Micro Pipe Robot driven by liquid Self Energy(Item No. 010043) , this dissertation mainly study on the designing and manufacturing of swimming micro robot and its swimming performance , building up and analysing the dynamic model , natant problem of swimming micro robot and controlling the swimming velocity . The main contents and related original achievements are described in the following :First , this dissertation deeply analyses the current status and problems of swimming micro robot in liquid , which is the important basis of following study .Then this dissertation discusses the flagellum-like oscillating propulsion , describes the types and characteristic of fish in details , analyses the configuration and force of fish and the undulatory propulsion mechanism , builds up the kinematic modelof fish . And this dissertation systematically summarizes up the reference and suggestion to swimming micro robot's design and study by the aquatic animal for the first time.This dissertation discusses how to design the swimming micro robot which is based on flexible hinge and driven by PZT . In order to set up the dynamic model of swimming micro robot , this dissertation builds up the statics model and analyses the micro motion amplifying performance of micro robot mechanism , builds up the vibration model of micro robot and analyses the vibrating performance without and with damp , researches the propelling force of driven wing and the resistance of micro robot in liquid based on the theory of flat board resisting stream , builds up the dynamic model of swimming micro robot for the first time in nation and analyses its swimming performance which is influenced by driving signal frequency , amplifying performance of main machanism , area of driven wing , character of fluid and so on .This dissertation manufactures the micro robot and sets up the experimental environment and tests the amplifying effect and the vibrating performance . The result shows that the design of micro robot , statics model and vibration model are valid . Additionally , this dissertation tests the swimming dynamic performance of robot and modifies the dynamic model by experiments which is quite helpful to realize the control of micro robot.Based on the aerodynamics, this dissertation researches the condition of swimming micro robot to float in liquid by its self-motivity for the first time . This dissertation designes the fuzzy controller to hold the swimming velocity stability , which is the basis of the micro robot to float in liquid . The simulation shows that the micro robot can float by its self-motivity...