Motion Characteristics And Accurate Path Tracking Control Of Magnetically Controlled Miniature Swimmer

Micro robot is an important field in the development of robots.The small structure of the robot can easily enter places that traditional robots cannot enter.In recent years,with the continuous breakthrough of material science and the rapid development of micro machining and manufacturing technology,the combination of composite materials and multiple robots has become possible,resulting in micro soft robots.As a new frontier discipline involving machinery,materials,control,biomedicine and other fields,micro soft robot promotes the further development of robot technology,and have broad application prospects in the fields of bioengineering,medical treatment,military defense and micro manufacturing technology.The traditional design of micro robot mostly adopts rigid structure.Micro soft robot adopts flexible composite materials with biocompatibility and large deformation ability,which can realize more motion modes and complete more complex tasks.Therefore,micro soft robot has attracted extensive attention and developed rapidly.In the field of micro robots,cables and built-in batteries are the traditional energy supply methods.Due to the small size of micro robot,it is difficult to solve the problem of build-in energy supply and driving.Magnetic drive has great advantages in many untethered drive modes.However,the research on the control principle and motion characteristics of the magnetically actuated micro soft robot is not perfect,and the research on accurate control is relatively few.Aiming at the above problems,a magnetically controlled soft miniature swimmer with simple structure,and easy to fabricate and manipulate,is designed based on the magnetic field driven control theory and magnetoelastic composites.An experimental platform for controlling the untethered magnetically controlled miniature robot is built,and the control system of the experimental platform is designed.The magnetically controlled miniature swimmer is driven and controlled by the uniform magnetic field generated by the experimental platform.In addition,the motion model of the magnetically controlled miniature swimmer is established.The motion characteristics of the magnetically controlled miniature swimmer are analyzed combined with the finite element method,and the effects of magnetic field strength and frequency on the motion speed of the robot are explored.According to its motion characteristics,an image-based visual servo(IBVS)double closed-loop control system is designed.The accurate path tracking control of the magnetically controlled miniature swimmer is realized by using improved line of sight(LOS)control,velocity fuzzy adaptive control and head-to-tail switch control.To sum up,through the analysis of the motion characteristics of the magnetically controlled soft micro robot and the experiment research on the accurate path tracking control,this project deeply explores the motion mechanism of the swimmer and improves the control accuracy of the soft miniature robot.It also integrates frontier interdisciplinary disciplines such as magnetically controlled technology,smart composite structure and machine vision,which can promote the development of tissue engineering and miniature assembly,and has broad application prospects and practical value.