On 3D Motion and Micro-manipulation of a Millimeter-scale Submarine-shaped Robot in Low Reynolds Number Liquid
SUN Qiang1,2, WANG Jingyi2,3, ZHANG Ying1, JIAO Niandong2,3
1. Information&Control Engineering Faculty, Shenyang Jianzhu University, Shenyang 110168, China; 2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 3. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
孙强, 王敬依, 张颖, 焦念东. 毫米级潜艇形机器人在低雷诺数液体中的3D运动及微操作方法研究[J]. 机器人, 2020, 42(1): 89-99.DOI: 10.13973/j.cnki.robot.190230.
SUN Qiang, WANG Jingyi, ZHANG Ying, JIAO Niandong. On 3D Motion and Micro-manipulation of a Millimeter-scale Submarine-shaped Robot in Low Reynolds Number Liquid. ROBOT, 2020, 42(1): 89-99. DOI: 10.13973/j.cnki.robot.190230.
Abstract：In order to simulate the 3D motion and micro-manipulation of the robot in human body environment, a 3D motion and micro-manipulation method of the millimeter-scale submarine-shaped robot in horizontal attitude is proposed in low Reynolds number liquid. Firstly, the submarine-shaped robot and the 4-coil magnetic drive system are designed and fabricated, and the finite element simulation of the magnetic field system is carried out by COMSOL software. Then, the forces on the robot in low Reynolds number liquid are analyzed, and the robot motion model is established. Furthermore, its various motion forms are studied. The robot can perform 3D motion along a specified path in low Reynolds number liquid, such as vertical up motion, diagonal rising motion, right angle motion and spiral upward motion, while maintaining its horizontal attitude, and the maximum speed is 1.2 mm/s. With the developed wireless electrical energy transfer system, electrical energy can be transmitted into the small-scale environment. With the wireless electrical energy, the robot can drive the gripper in its front end to perform micro-manipulations such as gripping, carrying, and releasing.
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