Propelling device of minisize swimming robot

Abstract

The invention relates to the field of minisize robots, in particular to a propelling device of a minisize swimming robot. The propelling device comprises a head portion in a spheroid shape, a connection part and a tail portion; a minisize motor, energy devices, a minisize controller and sensors are installed in the head portion; the head portion and the tail portion are connected through the connection part; the connection part comprises two conical helix lines, center lines of the two conical helix lines coincide and intersect for forming a conical double helix structure, the small end of the connection part is connected with the minisize motor in the head portion, and the large end of the connection part is connected with the tail portion; the tail portion comprises two helix lines, and center lines of the two helix lines coincide and intersect for forming a cylindrical double helix structure, By means of the propelling device of the minisize swimming robot, the swimming speed of the minisize robot is greatly raised, the structure is concise and compact, the manufacturing difficulty is low, the required operation space is small, the system structure is stable, and high robustness and adaptability are achieved.

Description

technical field [0001] The invention relates to the field of micro-robots, in particular to a propulsion device for a micro-swimming robot. Background technique [0002] Swimming microrobots have become a better choice in medical robots because they can swim in human interstitial fluid or blood with relatively little chance of causing damage to human tissue. [0003] In recent years, scientists have also designed micro-swimming robots with potential practical value according to the needs. But before entering into practical application, there are still many key technical problems to be solved. How to design the swimming robot to achieve a higher swimming speed is one of the difficult problems to be solved. [0004] Gabor et al proposed a swimming robot with three extended wings. Each extended wing of the robot has three degrees of freedom, which creates a wave-like propulsion effect. But the main disadvantages are as follows: the structure is complex, this technology is ba...

AI Technical Summary

Problems solved by technology

[0006] The disadvantage of this structure is that the propulsion speed is slow, and the peak value of the propulsion speed is about 40 microns / second

The structure is complex. This system requires four motors and a microcontroller. The mechanical part and control logic are quite complex.

Poor stability, the system will produce unavoidable jitter when running, seriously affecting the stability of the system

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