Micro-robot development and research status
Abstract: Micro-robot is an important branch of microelectromechanical systems, because it can enter the human and macro-robot can not be as small as the space operation, in recent decades by a wide range of concerns. This paper firstly gives several kinds of micro-robots that appeared in recent years both at home and abroad, analyzes their characteristics and performances, discusses several key problems encountered in the research of micro-robots, and points out the main research and development direction of these fields in the coming period of time.
Keywords: microrobot; microactuator
In recent years, microsatellites, microflight
vehicles, and microrobots in confined space using MEMS technology have demonstrated attractive applications and strategic significance for dual-use. Therefore, as one of the development directions of microelectromechanical systems (MEMS) technology, the research of micro-robotics based on precision machining
has become an international hot spot, which is not only driven by a strong market, but also by the participation of many research institutes. Many countries represented by Japan
have carried out a lot of research in this area, focusing on
the development of micro-robotics into the narrow space of industry, into the narrow space of the human body
medical microsystems and microfactories. In China, under the funding of the National Natural Science Foundation and 863 High Technology Research and Development Program, Tsinghua University, Shanghai Jiaotong University, Harbin Institute of Technology, Guangdong University of Technology, Shanghai University and other research institutes have carried out a lot of research on micro-robotics and micro-operating systems and developed prototypes. At present, the research on micro-robots in China mainly focuses on three fields[6]: (1)
Micro-robot
man for the detection of small pipelines in gas, chemical, and power generation equipments. (2) Non-invasive diagnostic micromachines
for the human body, into the intestinal tract. (3) Micro-machines for non-disassembly maintenance of complex mechanical systems
Human.
1 Development and research status of micro-robotics
Based on the actual situation of micro-robotics research in China, we
focus on micro-plumbing robots, non-invasive micro-medical robots, and micro-robots for
special operations.
111 Micro pipeline robots
Micro pipeline robots are based on the background of the application in a narrow space, and their environment is characterized by walking into a narrow tubular channel or crevice to
perform inspections, repairs, etc.
Micro pipeline robots can be used for a variety of applications, such as inspection, maintenance, etc.
Micro pipeline robots can be used for a variety of applications. Because of the obvious difference with the conventional conditions of the pipe working environment
, its walking mode and structural principle is different with the conventional pipeline robot
, so according to the conventional technical means of pipeline robots according to the
scaled down is not feasible. In view of this, the micro pipeline robot
walking method should be a different way. In recent years, with the development of micro-electro-mechanical technology and the development of crystal piezoelectric effect and super magnetostrictive material magneto-mechanical coupling
technology applications, so that the emergence of a new type of micro-actuators and applications to become
reality. The research results of microactuators have become an important
foundation for the development of microtubular robots[1].
A micro pipeline robot has been developed at Nagoya University in Japan, which can be
used for inspection of small pipes and for
tiny work in small spaces in the biomedical field. The robot can be driven by electromagnetic coils on the outside of the pipe and does not need to be powered by cables. In Japan, Tokyo Institute of Technology and NEC
Company collaborated on the research of spiral tube moving micro-robot, in the diameter of
Φ2514mm straight tube it is the maximum speed of 260mm / s, the maximum
maximum tractive force is 12N. France Anthierens et al. developed
applicable
for Φ16mm peristalsis robot, this type of micro-robot The maximum
movement speed of this kind of micro-robot is 5mm/s, and the load can be up to 20N, which has high motion
precision and large load, but the motion speed is slow and the structure is complicated.
Domestic Shanghai University and Shanghai Jiaotong University have developed inertial
impact pipeline micro-robot, Shanghai Jiaotong University's micro-robot is driven by
layered piezoelectric actuator; Shanghai University's micro-robot actuator
has two types of laminar and dual piezoelectric film[3]. Figure 1 shows the kinematic mechanism of a dual piezoelectric film microtubing robot, which adopts a dual piezoelectric film actuator to increase the driving force and improve the load-carrying capacity compared with a single piezoelectric film. The mechanism can move at a maximum speed of
15mm/s with forward, backward, upward and downward functions.
112 Development of micro medical robots
In recent years, medical robotics research and application development
expanding rapidly, micro medical robots is one of the most promising application
area, according to the Japan Science and Technology Policy Research Institute predicted that by 2017
medical field of the use of miniature machines and robots will exceed all
surgical procedures. According to the Japan Science and Technology Policy Research Institute, by 2017, more than half of all medical surgeries will be performed using micromachines and robots in the medical field. As a result, Japan has a plan to adopt "robotic surgeons" and is developing ultra-miniature robots that can travel through blood vessels in the human body and be used to
detect and kill cancer cells. The John Hopkin Laboratory in Maryland, USA
has developed a "smart pill," which is actually a miniature detection device
equipped with a miniature silicon thermometer and miniature circuits,
which, when swallowed, sends information about the body's temperature to a recorder. Swedish
Scientists have invented a robot the size of an English punctuation mark that could move a single cell or capture bacteria in the future to perform
various surgeries inside the body.
Many research institutes in China have mainly carried out research on non-invasive miniature
medical robots, and have achieved some results. The non-invasive medical robot
is mainly used in the medical treatment of diseases in the human body's internal cavity, which can greatly reduce
reduce or eliminate the current clinical use of various types of scopes, internal syringes, internal
delivery of medication and other medical equipment for patients to bring the serious unsuitable and pain
suffering. The University of Science and Technology of China (USTC), with the support of the National Natural Science Foundation of China (NSFC), has developed a piezoelectric ceramic-driven multi-segmented serpentine traveling laparotomy micro-robot, which installs the CCD camera system, surgical instruments and intelligent control system at the end of the micro-robot, and extends into the abdominal cavity to perform surgery through the small openings in the patient's abdomen. Through a small opening in the patient's abdomen, the micro-robot is inserted into the abdominal cavity to perform surgery. Its features
are fast response speed, high motion accuracy, large force and range of motion
and the ability to realize rapid and flexible movements within ±60° in two degrees of freedom in each segment. Figure 2 shows a scene of surgery using a laparoscopic robot
[5]. Zhejiang University has also developed the principle prototype of a non-invasive medical
mini-robot, which enters the human body cavity (e.g., intestines, esophagus) by levitation, avoiding the damage to the human body's internal tissues, and operating at a fast speed with convenient speed control.
113 The development of special operation micro-robot
In addition to the above mentioned micro-plumbing robots and non-invasive micro
medical robots, some domestic and foreign researchers have widely
conducted research on special operation micro-robots. This kind of micro-robot with
equipped with the appropriate sensors and operating devices, in the military and civilian aspects of the
very good prospects for development.
The U.S. National Security Laboratory has produced the world's
smallest robot ever, the robot weighs less than 28g, the volume of
411cm3, the leg mechanism for the belt conveyor, the robot can replace
human to complete many dangerous work. The U.S. Navy invented a miniature
city search and rescue robot, the robot was in 2001 "9111" incident
after the World Trade Center debris search and rescue site to make a big difference. Japan's Mitsubishi Electric
subsidiary, Matsushita Tokyo Research Institute and Sumitomo Electronics Corp. have jointly developed a micro-robot the size of an ant, which can enter
very confined environments to perform repairs, and which has two
circular connectors on either side of its body that can be connected to other robots to accomplish special
tasks.
The robot can be connected to other robots for specialized tasks.
Because of the creatures in nature have some
energy
that human beings can not match, so in recent years, the use of natural biological behavior and some
energy to design robots, to achieve flexible control, by robotics
scholars have received extensive attention. In China, many universities and research institutes have been carrying out
research on micro-bionic robots. Based on the principle of bionics, Shanghai Jiaotong University has developed a miniature six-legged bionic
robot by using six sets of parallel planar four-link mechanism, miniature DC
motor and corresponding decelerating and torsion-enhancing mechanism, which is small in size and has good maneuverability. The robot has a length of
30mm, a width of 40mm, a height of 20mm, a weight of 613g, and a walking speed of
3mm/s[2] . Shanghai University has also conducted some research work on micro-bionic robots
.
2 Problems in the development of micro-robot
(1) Miniaturization of driver
Micro-driver is the most important component of MEMS, from the perspective of the development of micro-robot
micro-driver technology plays a key role, and it is a sign of the level of the micro-robot
robot level, the development of energy-consuming, simple structure, easy to miniaturize
Chemical, displacement and force output, good linear control performance, dynamic response
Response to a new type of drive (high-performance piezoelectric elements, high-torque micro-horse
Da) is the future direction of research.
(2) Energy supply
Many actuators are driven by electrical energy, but for micro
mobile robots, the supply of electrical wires will seriously affect the movement of the micro
robot, especially in the curvature of the environment of the change of large.
The development trend of micro-robot should be cable-free, energy, control signals and
and detection signals should be able to send and transmit cable-free. To be truly
practical, micro-robots must solve the problem of cable-free microwave energy and cable-free data transmission technology
technology, as well as research and development of small size and high-capacity batteries.
(3) Reliability and safety
Many of the micro-robots currently being developed are based on medical
therapeutic, military, and nuclear power plants as the application background, in these very important
applications, the reliability of the robot's work and safety is the designer
must be considered a problem, and therefore requires the robot to be able to adapt to the environment in which it is located
This is the first time that the robot has been used for a long time.
Robots are required to be able to adapt to their environment and have troubleshooting capabilities[4].
(4) New micro-mechanism design theory and finishing technology
Micro-robots and conventional robots are not simply scaled down in terms of structure
, but their development is closely related to the development of micro-drivers and finishing technology to a certain extent.
The development of micro-robot design theory and finishing technology is closely related to the development of micro-drivers and finishing technology. At the same time, designers are required to innovate in
structural design theories, and to study the appropriate micro-robot moving
movement mechanism and movement mode.
(5) Highly Autonomous Control System
To complete a specific operation, the micro-robot's ability to recognize its own localization and environment is the key, the development of micro-vision system, improve the micro-image processing
speed, and the use of neural networks and artificial intelligence and other advanced technologies to solve the highly autonomous control system is the ultimate goal of realizing the practical application of the system, which is the key to the development of the micro-vision system, the improvement of micro-image processing speed.
The key to the ultimate realization of the practicality of the system is to use neural networks and artificial intelligence.
3 Conclusion
Microbots are still in the laboratory theoretical exploration period, and there is still a considerable distance from the practical
. There are many key technologies that have not been solved
, and the solution of these problems will lead to the development of many related disciplines
. Only when these problems are solved, the actualization of micro-robot
will become possible. We need to be innovative, seize this cutting-edge
topic, micro-robotics technology applied to the national economic construction and development
influential areas.