仿趋磁细菌的微型机器人研究

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杨岑玉, 王铮, 王金光, 王喆, 宋涛. 仿趋磁细菌的微型机器人研究[J]. 机器人, 2009, 31(2): 146-150.. YANG Cen-yu, WANG Zheng, WANG Jing-guang, WANG Zhe, SONG Tao. On a New Type of Magnetotactic Bacterium-like Micro-Robot. ROBOT, 2009, 31(2): 146-150..

摘要为了克服现存微型机器人运动灵活性欠佳的缺点，借鉴趋磁细菌的运动方式，设计了一种内外联合调控的仿生微型机器人．该微型机器人的螺旋桨模仿趋磁细菌的鞭毛，主动推进机器人运行；其体内的永磁块模仿趋磁细菌的磁小体链，与体外导向磁场相互作用控制其运动方向．实验研究了体外控制信号对微型机器人运动速度的影响以及导向磁场控制下微型机器人的转向特性．结果表明，该微型机器人可实现运行速度和运行方向的灵活控制，可在非磁性细小管路的探测中发挥重要作用．

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关键词 ：趋磁细菌, 微型仿生机器人, 导向磁场

Abstract：To overcome the disadvantages of poor kinematic dexterity in current micro-robots,a bionic micro-robot under joint control of internal and external signals is proposed with the motion of magnetotactic bacterium for reference.The microrobot is propelled by its screw propeller which imitates the flagellum of magnetotactic bacterium,and its moving direction is adjusted by interaction between the external guiding magnetic field and the internal permanent magnet block which imitates the chains of tiny magnetosomes.The influence of remote control signal on the velocity of the micro-robot and the capability of attitude adjustment under the guiding magnetic field are tested experimentally.The results show that both the velocity and attitude of the micro-robot can be controlled flexibly,and the micro-robot may play an important role in the detection of small nonmagnetic pipes.

Key words： magnetotactic bacterium micro-robot guiding magnetic field

收稿日期: 2008-07-01

ZTFLH:

TP242.1

基金资助:国家863计划资助项目（2006AA04Z249）．

作者简介: 杨岑玉（1981- ），女，博士生．研究领域：微特机器人，机器人动力学与控制．
宋涛（1968- ），男，研究员，博士生导师．研究领域：永磁技术及应用，生物电磁技术．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I2/146

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