【作者】 穆晓枫；

【导师】 周银生；

【作者基本信息】 浙江大学 ， 机械设计及理论， 2004， 硕士

【摘要】 20世纪60年代初诞生的仿生学(Bionics)，是生物科学和工程技术相结合的一门边缘学科。通过学习，模仿，复制和再造生物系统的结构，功能，工作原理及控制机制，来改进现有的或创造新的机械，仪器，建筑和工艺过程。现代仿生学已经延伸到很多领域，机器人学是其主要的结合和应用领域之一，可归纳为机器人的结构仿生，材料仿生，功能仿生，控制仿生以及群体仿生五个方面。目前，国内外根据仿生学原理已经研制出了很多仿生微型机器人。在国内外仿生学机器人研究的基础上，本课题基于蝌蚪的游动规律，提出了一种仿蝌蚪游动微型机器人。该微型机器人很好地再现了蝌蚪的游动，具有很好的机动性能，在医疗血管微型机器人研究领域有着广泛的应用前景。 本论文根据目前有关鱼类游动理论研究，详细分析了该微型机器人的游动推进原理。建立了基于蝌蚪游动推进的微型机器人游动推进理论模型，并对该微型机器人的游动推进理论模型进行了理论分析和求解。从而确定了微型机器人的游动速度、推进力与微型机器人结构参数和游动参数的关系。设计研制了微型机器人游动推进机构装置的原理样机，对微型机器人进行了详细的实验研究，并对实验结果进行了详细的分析。分析了影响微型机器人运行的各种重要因素。初步提出了解决微型机器人的游动推进控制问题。 论文第一章介绍了微型机器人的研究背景和意义，详细介绍了国内外微型机器人的发展现状以及微型机器人研究的关键技术和难点。提出了一种仿蝌蚪游动微型机器人。最后给出了本课题的研究意义和研究内容。 论文第二章详细介绍了微型机器人的结构组成和游动推进机制。研制了微型机器人原理样机并对其游动推进速度进行了详细的试验研究，给出了相应的试验研究结果，最后给出了结论。 论文第三章介绍了微型机器人的理论基础和游动原理。对微型机器人进行了详细的运动学和动力学分析，给出了微型机器人运动学模型和动力学模型及相应的方程。对微型机器人运动学和动力学方程进行了求解，通过坐标图分析了微型机器人的形状参数和游动参数对微型机器人游动推进速度和游动推进力的影响。对微型机器人游动推进速度理论计算结果和实验研究结果进行了对比分析，证明了微型机器人理论模型的合理性和正确性。最后分析讨论了微型机器人的游动推进效率问题、影响微型机器人游动性能的因素以及微型机器人的减阻机制和方法。 论文第四章详细介绍了目前有关机器人控制的控制理论、控制方法以及控制研究内容。提出了仿蝌蚪游动微型机器人的控制理论和方法，初步解决了微型机器人的机动控制问题。浙江大学硕士学位论文摘要 论文第五章在仿蛾蚁游动微型机器人的研究基础上，提出了一种血管机器人并给出了其详细的实现结构。详细分析了血管机器人的结构组成以及游动控制机制，为今后血管机器人的进一步研究打下了坚实的基础和指明了研究方向。 论文第六章对整个课题和论文工作做出了总结与展望。本论文为国家自然科学基金资助项目(NO.50375143)更多还原

【Abstract】 Bionics is a new developmental subject which formed by the combination of bioscience and engineering technology, and it is the application of biological fabrication, functions, principles and control mechanisms to the improvement and creation of machine, instrument, architecture and technical process, especially robot system that is a representative of electro-mechanical systems. At present, many kinds of robots are researched according to the imitation of fabrication, material, function, control and colony of biology. Based on the studies of bionic robots, and according the swimming principle of tadpole, a new swimming micro-robot imitated tadpole is proposed in this paper. The micro-robot which reproduces the swimming performance of tadpoles has excellent swimming performance, and has significant meaning in blood vessel micro-robots which have extensive applied foreground.On the basis of swimming propulsion theories offish and tadpole, the principle of the swimming micro-robot has been analyzed, and the undulatory propulsion theory of the . swimming micro-robot imitated tadpole has been established. According to the analysis and solution of the swimming model of the micro-robot, the relationship between swimming speed, swimming propulsion and shape, swimming parameters is defined. A prototype of the micro-robot is developed and experiments on it are conducted detailedly. Many important factors which influence the swimming propulsion performance of the micro-robot are analyzed, and control problems of the swimming micro-robot are solved and realized elementarily.In first chapter, research meanings and background of micro-robots study are firstly introduced, and the internal and external research situation of micro-robots is analyzed, then key technologies and difficulties appear in micro-robot study are discussed. A new swimming micro-robot imitated tadpole is proposed. At last, the research meanings and contents of the whole issue are presented.In chapter 2, the fabrication and swimming propulsion mechanism of the micro-robot is introduced. The prototype of the micro-robot is developed and the swimming propulsion speed of the micro-robot is studied experimentally, the experimental results indicate that the swimming micro-robot proposed is reasonable and feasible. At last, experimental study conclusions are given.In chapter 3, foundation of theory and principle of swimming propulsion of the swimming micro-robot are introduced. Kinematics and kinetics of the micro-robot areanalyzed detailedly, and then, model and equation of kinematic and kinetic of the swimming micro-robot are given. According to solving the equations and using coordinate graphs, the influences of shape and swimming parameters on the swimming speed and propulsion are studied and analyzed. The comparison of the theoretical results and experimental data of swimming speed is made, the results indicate that theoretical results are consistent with experimental data, which means that the theory model of the micro-robot is reasonable and feasible. At last, efficiency of swimming propulsion, factors which influence swimming propulsion performance of the micro-robot and methods that will decrease swimming propulsion resistance are analyzed and discussed.In chapter 4, many kinds of control theories and methods of robots are summarized and introduced, and the study contents of robot control are discussed. The control theory and methods of the micro-robot that imitated tadpole are put forward, and then the control problems of the micro-robot are solved elementarily.In chapter 5, on the basis of the study of the swimming micro-robot imitated tadpole, a new blood vessel micro-robot is put forward and designed. Fabrication and swimming control mechanism of the blood vessel micro-robot are studied and analyzed detailedly. The study of the blood vessel micro-robot in this paper provides concrete foundation which will be needed in the farther research.In last chapter, the summary and prospects of the whole task are presented.This paper is supporte更多还原