CN111633630B - 微型机器人的进动控制系统及方法 - Google Patents
微型机器人的进动控制系统及方法 Download PDFInfo
- Publication number
- CN111633630B CN111633630B CN202010524943.XA CN202010524943A CN111633630B CN 111633630 B CN111633630 B CN 111633630B CN 202010524943 A CN202010524943 A CN 202010524943A CN 111633630 B CN111633630 B CN 111633630B
- Authority
- CN
- China
- Prior art keywords
- micro
- robot
- electromagnetic
- solenoid
- solenoids
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000003993 interaction Effects 0.000 claims description 27
- 239000000696 magnetic material Substances 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 6
- 239000010408 film Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 239000000843 powder Substances 0.000 claims description 6
- 230000002708 enhancing effect Effects 0.000 claims description 2
- 239000010409 thin film Substances 0.000 claims description 2
- 238000004804 winding Methods 0.000 claims description 2
- 239000000853 adhesive Substances 0.000 claims 1
- 230000001070 adhesive effect Effects 0.000 claims 1
- 230000009471 action Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 239000002775 capsule Substances 0.000 description 6
- 230000000737 periodic effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 229920002037 poly(vinyl butyral) polymer Polymers 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 3
- 229910001289 Manganese-zinc ferrite Inorganic materials 0.000 description 2
- JIYIUPFAJUGHNL-UHFFFAOYSA-N [O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[Mn++].[Mn++].[Mn++].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Zn++].[Zn++] Chemical compound [O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[Mn++].[Mn++].[Mn++].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Zn++].[Zn++] JIYIUPFAJUGHNL-UHFFFAOYSA-N 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000009193 crawling Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 241000256247 Spodoptera exigua Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 241001233061 earthworms Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000001846 repelling effect Effects 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004148 unit process Methods 0.000 description 1
- 239000011701 zinc Substances 0.000 description 1
- 229910000859 α-Fe Inorganic materials 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010524943.XA CN111633630B (zh) | 2020-06-10 | 2020-06-10 | 微型机器人的进动控制系统及方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010524943.XA CN111633630B (zh) | 2020-06-10 | 2020-06-10 | 微型机器人的进动控制系统及方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111633630A CN111633630A (zh) | 2020-09-08 |
CN111633630B true CN111633630B (zh) | 2022-12-30 |
Family
ID=72325603
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010524943.XA Active CN111633630B (zh) | 2020-06-10 | 2020-06-10 | 微型机器人的进动控制系统及方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN111633630B (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114888773B (zh) * | 2022-06-01 | 2023-11-03 | 江南大学 | 一种基于微线带磁场线圈的电流驱动控制系统 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101947779A (zh) * | 2010-09-01 | 2011-01-19 | 华南理工大学 | 一种混合驱动式微小机器人的结构 |
CN102506266A (zh) * | 2011-10-19 | 2012-06-20 | 中国科学院合肥物质科学研究院 | 一种仿生蠕动式管道行走机构及其控制方法 |
KR20130036273A (ko) * | 2013-03-23 | 2013-04-11 | 이상윤 | 전자기감응공명기술을 이용한 마이크로 로봇 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1544208A (zh) * | 2003-11-20 | 2004-11-10 | 上海交通大学 | 微型多节电磁和压电蠕动机器人系统 |
CN1332629C (zh) * | 2004-09-02 | 2007-08-22 | 上海交通大学 | 主动式肠道内窥镜机器人系统 |
CN100435713C (zh) * | 2005-04-07 | 2008-11-26 | 中国科学院合肥智能机械研究所 | 一种体内微机器人的外磁场驱动系统 |
KR101450091B1 (ko) * | 2013-05-08 | 2014-10-14 | 한국과학기술연구원 | 마이크로 로봇의 구동 제어를 위한 전자기 코일 시스템 |
CN110236641B (zh) * | 2019-06-28 | 2020-04-24 | 青岛大学附属医院 | 一种磁力纳米血栓疏通装置 |
-
2020
- 2020-06-10 CN CN202010524943.XA patent/CN111633630B/zh active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101947779A (zh) * | 2010-09-01 | 2011-01-19 | 华南理工大学 | 一种混合驱动式微小机器人的结构 |
CN102506266A (zh) * | 2011-10-19 | 2012-06-20 | 中国科学院合肥物质科学研究院 | 一种仿生蠕动式管道行走机构及其控制方法 |
KR20130036273A (ko) * | 2013-03-23 | 2013-04-11 | 이상윤 | 전자기감응공명기술을 이용한 마이크로 로봇 |
Also Published As
Publication number | Publication date |
---|---|
CN111633630A (zh) | 2020-09-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Dong et al. | Untethered small-scale magnetic soft robot with programmable magnetization and integrated multifunctional modules | |
CN111633630B (zh) | 微型机器人的进动控制系统及方法 | |
EP3093699A1 (en) | Zoom lens driving device and zoom lens | |
Ivan et al. | First experiments on magpier: A planar wireless magnetic and piezoelectric microrobot | |
Piranda et al. | A new concept of planar self-reconfigurable modular robot for conveying microparts | |
WO2007077896A1 (ja) | カプセル型医療装置誘導システム及びその制御方法 | |
WO2011058505A1 (en) | A miniaturized microrobotic device for locomotion in a liquid environment | |
Shin et al. | A miniaturized tadpole robot using an electromagnetic oscillatory actuator | |
CN108886331A (zh) | 电磁控制相位数量减少的多自由度电机设计 | |
Shin et al. | An earthworm-like actuator using segmented solenoids | |
JP4984217B2 (ja) | 磁場を用いた機械の遠隔制御方法 | |
Liang et al. | Magnetic microrobots fabricated by photopolymerization and assembly | |
Guo et al. | Characteristic evaluation of a wireless capsule microrobotic system | |
JP2006309109A (ja) | レンズに適用する電磁駆動式調整装置 | |
Shin et al. | Micro mobile robots using electromagnetic oscillatory actuator | |
US11207785B2 (en) | Tool changer and tool change system | |
JP2006305695A (ja) | 外側に可動部を持たない小型ロボット | |
CN112009655A (zh) | 电磁驱动脉冲式推进仿鱿鱼机器人 | |
JP2005070609A (ja) | レンズ駆動装置の駆動方法およびレンズ駆動装置ならびにカメラ | |
CN102052505A (zh) | 一种双稳态电磁阀 | |
Heya et al. | Two-degree-of-freedom actuator for robotic eyes | |
CN1257339A (zh) | 微型多关节电磁蠕动机器人系统 | |
CN109484506B (zh) | 电磁驱动爬壁机器人模块、爬壁机器人及其运动方法 | |
CN107344025B (zh) | 一种用于驱动机器鱼的胸鳍的二自由度驱动装置 | |
JP3469424B2 (ja) | 把持装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230807 Address after: 230026 Jinzhai Road, Baohe District, Hefei, Anhui Province, No. 96 Patentee after: University of Science and Technology of China Patentee after: Zhu Qi Patentee after: Xia Yulong Address before: 230026 Jinzhai Road, Baohe District, Hefei, Anhui Province, No. 96 Patentee before: University of Science and Technology of China |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240417 Address after: West Building, Science and Technology Experimental Building, West District, University of Science and Technology of China, No. 443, Shushan District, Hefei City, Anhui Province, 230026 Patentee after: Zhu Qi Country or region after: China Patentee after: Xia Yulong Address before: 230026 Jinzhai Road, Baohe District, Hefei, Anhui Province, No. 96 Patentee before: University of Science and Technology of China Country or region before: China Patentee before: Zhu Qi Patentee before: Xia Yulong |