Design and Control of a Novel Type of Microrobot Moving in Pipe

Abstract

In this paper, to realize practical micromachines using fluid power with high power density. It is our purpose to develop motion control system to manipulate a wireless microrobot which can perform in blood vessel by using magnetic field from out of human body. Base on this purpose, a new novel type moving microrobot in pipe has been designed and introduced in this paper. The model microrobot utilizes electromagnetic actuator as the servo actuator to realize moving motion for biomedical application. We discuss the structure, motion mechanism and characteristic evaluation of a driving fin which be in charge of propulsion. The fin moving like fish can be controlled by the frequency adjustment of the alternate magnetic field. The microrobot can be stopped at the place where we want in vertical direction. Experimental results indicate that the microrobot can be controlled upward, downward and also suspend in water by frequency adjustment. The developed microrobot has characteristics of quick response, can correspond to the dirt adhering to the inner wall. To sum up, it will play an important part in industrial application and microsurgery.

Development of Multifunctional Wireless Microrobot for Biomimedical Application

“…Up to now, several kinds of microrobots in pipe have been developed [4] - [10]. However, the power supply and the friction power with the inner wall were typically problematic in this research.…”

“…Mechanical swimming structures such as those replicating undulatory motion by means of linkages and other interfacing parts face the same problems as propellers, which have low efficiencies and excessive thermal energy generation. Recently, several types of microrobots in pipes using SMA, PZT, and polymer actuators have been reported [4] - [10]. However, some problems exist, such as compactness, low response, and safety in water.…”

Characteristic Evaluation of a Novel Type of Microrobot

“…However, the power supply and the friction power with the inner wall were typically problematic in this research. It has been reported that a novel prototype model of a microrobot utilizing an electromagnetic actuator as the servo actuator to realize motion [11] - [12]. A moving fin driven by a permanent magnet can be controlled via frequency adjustment of the alternate magnetic field.…”

Research on Dynamic Characteristic of Rotor System for Small Maglev Wind Turbine Generator

“…Research on the permanent rotor system with passive magnetic bearing conduct related have not been done [8,9] . Pan Cunyun of National University of Defense Technology has carried on the simulation analysis to the speed limit of rotor-permanent magnet bearing and stress and strain of high-speed running state, However, simulation analysis and experiment analysis of the whole rotor system is not included in his paper [10] . Wang Nianxian ,doctor of the Wuhan University of Technology, has had the simulation and experimental analysis on the permanent rotor system with passive magnetic bearing including the bearing stiffness effect on critical speed.But he doesn't do any comparative analysis between the rigid support and elastic support [11] .…”