Development and research status of micro-robot
Abstract: Micro-robot is an important branch of MEMS. Because it can work in a narrow space where humans and macro robots can't work, it has been widely concerned in recent decades. Firstly, this paper gives several kinds of micro-robots that have appeared at home and abroad in recent years. Based on the analysis of its characteristics and performance, several key problems encountered in the research of micro-robot at present are discussed, and the main research and development directions in these fields in the future are pointed out.
Keywords: micro robot; Micro-actuator
In recent years, micro-satellites and micro-aircraft have adopted MEMS technology.
Robots and micro-robots entering narrow spaces show attractive prospects before application.
The strategic significance of scenery and its dual use for military and civilian purposes. Therefore, as a MEMS technology,
Micro-robot technology based on precision machining is one of the development directions of technology
Research has become a hot spot in the world, which includes not only
Strong marketing and the participation of many research institutions. in Japan
Many countries represented by Japan have done a lot of research in this field, mainly focusing on
Is to develop micro-robots into narrow industrial spaces and narrow human bodies.
Medical Microsystems and Micro-factories. At home, in the National Natural Science Foundation
With the support of Tsinghua University Jinhe 863 high-tech research and development plan.
Science, Shanghai Jiaotong University, Harbin Institute of Technology, Guangdong University of Technology
Science, Shanghai University and other scientific research institutes aim at micro-robots and micro-operation departments.
A lot of research has been done, and the principle prototypes have been developed respectively. Current country
The research of micro-robot mainly focuses on three areas [6]: (1)
Micro-machine for detecting small pipes of gas, chemical and power generation equipment
People. (2) Miniature machines for noninvasive diagnosis and treatment of human body and intestine.
People. (3) Micro-machines for complex mechanical systems without disassembly and maintenance.
People.
1 development and research status of micro-robot
According to the actual situation of micro-robot research in China, we
This paper mainly introduces the micro-pipeline robot, non-invasive micro-medical robot and
Micro robot for special operation.
1 1 1 micro pipeline robot
Micro-pipe robot is based on the application background of narrow space.
Out, its environmental characteristics are walking in narrow tubular channels or gaps.
Conduct inspection, maintenance and other operations. Compared with the in-pipe operation ring under conventional conditions
The environment is obviously different, and its walking mode and structural principle are the same as those of the conventional pipeline machine.
Robots are also different, so they are suppressed according to the conventional technical means of pipeline robots.
Downsizing is not feasible. In view of this, the micro-pipe robot
We should find another way. In recent years, with the development of MEMS technology,
Development of Giant Magnetostrictive Materials and Its Crystal Piezoelectric Effect and Magneto-mechanical Coupling
With the development of technology application, the appearance and application of new micro-drivers have become
Reality. The research results of micro-actuator have become the research focus of micro-pipeline robot.
To develop the foundation [1].
Nagoya University in Japan has developed a miniature pipeline robot which can
Which is used for detecting small pipes in a small space in the biomedical field.
Tiny work. This robot can be driven by an electromagnetic coil outside the pipeline.
Dynamic, no cable power supply. Japanese tokyo institute of technology and NEC
The micro-robot developed by the company moving in the spiral pipe has a diameter of.
The maximum moving speed of φ25 14mm straight pipe is 260mm/ s, which is the maximum.
The large traction force is 12N. Anthierens and others in France have developed a suitable
Among φφ 16mm peristalsis robots, this kind of micro-robot is the largest.
The movement speed is 5mm/ s, and the load can reach 20N, so it has high mobility.
Accuracy, large load, but slow movement speed, complex structure.
Both Shanghai University and Shanghai Jiaotong University in China have development inertia.
The micro-robot of Shanghai Jiaotong University adopts the impact pipeline micro-robot.
Driven by a laminated piezoelectric actuator; Micro-robot driver of Shanghai University
There are two types of laminated and bimorph films [3]. Figure 1 shows double pressure.
The motion mechanism of the electro-thin film micro-pipe robot adopts double
Compared with a single piezoelectric film, the piezoelectric film actuator increases the driving force.
Force, improve the bearing capacity. The maximum moving speed of the mechanism can be achieved.
To 15mm/ s, with forward, backward, upward and downward functions.
Development of 1 12 micro medical robot
In recent years, the research and application of medical robot technology have been developed.
With the rapid development of micro-medical robot, micro-medical robot is one of the most promising applications.
According to the forecast of Japan Institute of Science and Technology Policy, by 20 17 years.
Micro-machines and robots will be used in the medical field more than all operations.
Half the medical operations. Therefore, Japan has formulated a plan to adopt "robot surgery"
Doctor "plan, and is developing can walk in human blood vessels, with.
A subminiature robot that discovers and kills cancer cells. Maryland USA
John Hopkin's lab has developed a "smart pill", which is actually
At the top is a micro detection device equipped with a micro silicon thermometer and a micro circuit.
If swallowed, the temperature information in the body can be sent to the recorder. Sweden
Scientists have invented a robot the size of English punctuation marks.
To move single cells or catch bacteria, and then carry out various activities in the human body.
This kind of operation.
Many domestic scientific research institutes mainly carry out non-invasive microscopy technology.
Some achievements have been made in the research of medical robots. Non-invasive medical machine
The robot is mainly used for the treatment of diseases in the human body cavity, which can greatly reduce.
Reduce or eliminate all kinds of speculums, internal syringes and internal syringes currently used in clinic.
Serious discomfort and pain caused by medical devices such as drug delivery devices.
Bitter. Supported by National Natural Science Foundation of China, China University of Science and Technology
A multi-section snake-shaped belly swimmer driven by piezoelectric ceramics was developed.
A surgical micro-robot, which combines CCD camera system and surgical operation.
The instrument and the intelligent control system are respectively installed at the end of the micro robot,
Through a small opening in the patient's abdomen, it extends into the abdominal cavity for surgery. peculiar
The key points are fast response speed, high action precision, large acting force and large action range.
Large, each section can achieve two degrees of freedom directions within 60.
The action is agile and flexible, as shown in Figure 2, using an abdominal surgery robot.
Surgical site [5]. Zhejiang University has also developed non-invasive medical care.
Principle prototype of micro-robot moving in suspension mode.
Entering the human body cavity (such as intestine and esophagus) can avoid the human body cavity.
The machine organization is damaged, the running speed is fast, and the speed control is convenient.
Development of 1 13 Micro Robot for Special Operation
In addition to the micro-pipeline robot and non-invasive micro mentioned above.
In addition to medical robots, some researchers at home and abroad have also carried out extensive research.
Research on micro robot for special operation. This micro-robot is equipped with
Equipped with corresponding sensors and operating devices, both in military and civilian fields.
Very good development prospects.
The National Security Laboratory has created the most powerful
The smallest robot, this robot weighs less than 28g and has a volume of.
4 1 1cm3, the leg mechanism is a belt conveyor, which can be replaced by this robot.
People go to finish many dangerous jobs. The U.S. Navy invented a miniature
Urban search and rescue robot, "911"in 20065438.
After the incident, the World Trade Center search and rescue site showed its talents. Japanese mitsubishi electric company
Subsidiaries, Panasonic Tokyo Research Institute and Sumitomo Electronics Co., Ltd.
Make a micro robot the size of an ant, and you can enter.
I am engaged in maintenance work in a very narrow environment, with two on each side of my body.
The circular connector can be connected with other robots to complete some special tasks.
Mission.
Because the creatures in nature have some machines that humans can't match.
Yes, so in recent years, the movement behavior of natural creatures and the use of some machines.
Can design the robot, realize its flexible control and be influenced by the robot.
Scholars attach great importance to it. There are many universities and research institutes in China.
Research on the development of micro bionic robot. Shanghai jiaotong university is mainly based on imitation.
Based on the biological principle, six groups of parallel planar four-bar mechanisms and micro DC are adopted.
The micro hexapod bionic robot consists of a motor and a corresponding deceleration and torsion increasing mechanism.
The robot is small in size and good in maneuverability. This robot is very long
30mm, 40mm wide, 20mm high, weighing 6 13 g, its walking speed is as high as.
To 3 mm/s [2]. Shanghai University has also carried out some miniature bionic robots.
Research work.
2 problems in the development of micro-robots
Miniaturization of (1) driver
Micro-actuator is an important part of MEMS, which comes from micro-robot.
Micro-drive technology plays a key role in the development of micro-computer.
Robot-level signs have low energy consumption, simple structure and easy miniaturization.
Large displacement output and force output, good linear control performance and dynamic response.
A New Fast Actuator (High Performance Piezoelectric Element, High Torque Microhorse)
Da) is the future research direction.
(2) the problem of energy supply
Many actuators are driven by electric energy, but for micro
For mobile robots, the wires that provide electric energy will seriously affect micro-robots.
The movement of robot, especially in the environment with great curvature change.
The development trend of micro-robot should be cableless, and the energy and control signals should be based on
And the detection signal should be able to be sent and transmitted without cables. Microrobots should be real.
To be practical, we must solve the problems of cableless microwave energy and cableless data transmission technology.
At the same time, develop small-sized and high-capacity batteries.
(3) Reliability and safety
At present, many micro-robots being developed are based on medicine.
Medical, military and nuclear power plants are the application backgrounds, which are all very important.
In application, the reliability and safety of robot work is the responsibility of the designer.
A problem that must be considered, so the robot is required to adapt to its position.
Environment, and has the ability to troubleshoot [4].
(4) New MEMS design theory and finishing technology.
Compared with conventional robots, micro-robots are not simple knots.
The decrease of structural proportion is related to micro-actuator and precision to some extent.
The development of processing technology is closely related. At the same time, designers are required to be on the machine.
The structural design is innovated theoretically, and the motion suitable for micro-robot is studied.
Motion mechanism and mode.
(5) highly autonomous control system
Micro-robots have to complete specific tasks, their own positioning and environment.
The key is to develop micro-vision system and improve micro-images.
Speed management is solved by using advanced technologies such as neural network and artificial intelligence.
A high degree of autonomy of the control system is the key to the ultimate realization of practicality.
key
3 Conclusion
Micro-robot is still in the theoretical exploration stage in the laboratory, which is far from practical use.
There is still a considerable distance. There are still many key technologies that have not been solved.
In the process of solving these problems, many related disciplines will be promoted at the same time.
The development of. Only when these problems are solved, the reality of micro-robots.
It will be possible to use it. We should be brave in innovation and seize this frontier.
The subject is to apply micro-robot technology to the development of national economy.
Loud areas.