Driving Control And Location Research On Micro Swimming Robot Inside Pipe

Micro swimming robot controlled by magnetic field features with small volume, quick response and low energy consumption, which has a widespread prospect for applying in medical engineering ,such as therapy of interposition inside human body.So far, therapy of interposition inside human body is a main developing trend for surgical treatment, which characterizes with minor injury, no pain and low treatment cost. At the stage of feature test of micro robot inside pipe, superior drive technique and location method are most important. Based on the micro robot researched by this paper, practicable methods are proposed in these two aspects.Firstly, the characteristics of double-faced giant magnetostrictive thin films (GMF) are introduced. Thereafter kinematics equation is established according to biomimetic swimming principle. Then a proposal of combined coil for driving robot is putted forward by accomplishing power optimization and magnetic uniformity, in the meantime, whose drive and control circuits are developed.Then, a kind of new technique adopted the principle of ultrasonic distance measuring is proposed, which can make certain the location of micro swimming robot inside pipe. The research work includes analysis of the principle of ultrasonic location, development of the drive and receive analog circuits of ultrasonic sensor. The counter and control digital circuits of ultrasonic location adopt Complex Programmable Logic Device (CPLD), which is developed by combining Very-high-Speed Integrated Circuit Hardware Language (VHDL) and graphics editing, furthermore, the precision of the whole location system is analyzed.Finally, the experiments of micro robot swimming and location are conducted. Results show that magnetic drive system of combined coil characterizes with low power consumption, good homogenous magnetic field and experimental maneuverability. The precision of ultrasonic location system meets the expected requirement, dirve system of the micro swimming robot, which is composed of combined coil and its drive circuit, is feasible.