On a New Type of Magnetotactic Bacterium-like Micro-Robot
YANG Cen-yu1,2, WANG Zheng1, WANG Jing-guang1,2, WANG Zhe1,2, SONG Tao1
1. Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing 100190, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
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..
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.
[1] Peirs J,Reynaerts D,Van Brussel H.Design of miniature parallel manipulators for integration in a self-propelling endoscope[J].Sensors and Actuators,A:Physical,2000,85(1):409~417.
[2] Hirose S,Cave P,Goulden C.Biologically Inspired Robots:Snake-like Locomotors and Manipulators[M].NY,USA:Oxford University Press,1993.
[3] 陈柏,周银生,康剑莉,等.一种新型仿蜗牛微机器人的研究[J].中国机械上程,2003,14(22):1954~1957.Chen Bai,Zhou Yin-sheng,Kang Jian-li,et al.Research on a novel snail-like micro-robot[J].China Mechanical Engineering,2003,14(22):1954~1957.
[4] 左建勇,颜国正.基于蚯蚓原理的多节蠕动机器人[J].机器人,2004,26(4):320~324.Zuo Jian-yong,Yan Guo-zheng.A multi-unit creeping robot based on earthworm principle[J] ,Robot,2004,26(4):320~324.
[5] Honda T,Sakashita T,Narahashi K,et al.Swimming properties of a bending-type magnetic micro-machine[J].Journal of the Magnetics Society of Japan,2001,25(4-2):1175~1178.
[6] Guo S X,Fukuda T,Asaka K.A new type of fish-like underwater microrobot[J].IEEE/ASME Transactions on Mechatronics,2003,8(1):136~141.
[7] Ishiyama K,Sendoh M,Yamazaki A.et al.Swimming micromachine driven by magnetic torque[J].Sensors and Actuators,A:Physical,2001,91(1-2):141~144.
[8] Sendoh M,Ishiyama K,Arai K I.Fabrication of magnetic actuator for use in a capsule endoscope[J].IEEE Transactions on Magnetics,2003,39(5):3232~3234.
[9] Mei T,Chen Y,Fu G Q,et al.Wireless drive and control of a swimming microrobot[A].Proceedings of the IEEE Conference on Robotics and Automation[C].Piscataway,N J,USA:IEEE,2002.1131~1136.
[10] 白烨,杨明,王秋良,等.磁导航外科手术模犁系统设计和建造[J].北京生物医学工程,2006,25(3):261~264,315.Bai Ye,Yang Ming,Wang Qiu-liang,et al.The design and fabrication of a model magnetic stereotaxis system[J].Beijing Biomedical Engineering,2006,25(3):261~264,315.
[11] 张永顺,李海亮,王惠颖,等.超磁敛伸缩漳膜驱动仿生游动微型机器人[J].机器人,2006,28(2):170~176.Zhang Yong-shun,Li Hai-liang.Wang Hui-ying,et al.Biomimetic swimming micro-robot driven by giant magnetostrictive thin films[J].Robot,2006,28(2):170~176.
[12] Blakemore R.Magnetotactic bacteria[J].Science,1975,190 (4212):377~379.
[13] Bazylinski D A,Frankel R B.Magnetosome formation in prokaryotes[J].Nature ReViews Microbiology,2004,2(3):217~230.
[14] 宋涛,李晓楠,王铮,等.一种微型机器人及其体外导向系统[P].中国:200610165495.9,2006-12-21.Song Tao,Li Xiao-nan,Wang Zheng,et al.A novel micro-machine and its external guiding system[P].China:200610165495.9,2006-12-21.