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论文大纲，目录 |
| 关键词搜索：人工智能论文 本科毕业论文 |
摘 要
伴随着科技的发展和人类生活水平的提高，微机器人的研究开发显得尤为重要。医疗微机器人的开发将成为微机器人发展的一个重要方向。而目前大多数的微机器人采用外接引线的能源供应方式，这大大限制了微机器人在人体内的应用。因此，对于微型医疗机器人，选择一种安全、有效、可靠的无线式驱动方法成为研究的重点。
本文主要介绍了一种采用外场驱动方法的微机器人，该机器人采用新型的功能材料——铁磁橡胶（FMP）作为微执行器，尺度仅为3mm，在交变磁场的驱动下实现了在水中的运动。本文简单介绍了前人的实验成果，分析了实验的不足以及将来的发展方向。接着介绍了微机器人的结构设计方法及制作工艺。微机器人的运动实验表明在频率只有几赫兹，磁感应强度只有几毫特斯拉的交变磁场中，微机器人能在水中实现有效地运动，且改变交变磁场的感应强度及频率可以控制微机器人的运动速度，从而证明了该驱动方法在微机器人尺度为3mm时的有效性。
本文还重点分析了微执行器的工作原理，研究微执行器在交变能量场作用下产生的共振现象，并建立微执行器的动力学模型。文章最后提出了血管机器人系统的设计方案，微机器人驱动控制方法，以及驱动控制方案中各模块功能与实现方法的构思。论文的研究工作在外场驱动机器人的微型化方面又更进了一步，从而为最终研制出可用于人体医疗的微机器人起到了积极的促进作用。
关键词：铁磁橡胶、外场驱动、微型水下机器人、微执行器
Abstract
Going with the improvement of standard living and science, the study and application of microrobot has became more and more important. Medical micro-robot has been one of the most important directions of micro-robot. Till now, the drive method of most micro-robots is in cable. That restrict the application of micro-robot in human’s body greatly. This paper deals with a micro mobile robot that drived by external alternating magnetic field in water. The robot utilizes FMP(Ferromagnetic polymer) as actuators. The size of robot is 3mm in length. This paper introduce achievement of former experiments and point out the shortage that need to accomplish. This dissertation describes how the actuators and the microrobot has been fabricated. Experiments show that the robot can move in water driven by external alternating magnetic field and the speed can be easily changed by adju无忧论文 【http://www.uklunwen.com】sting magnetic field. The paper emphasizes on analyzing the principle of micro-actuator, studing sympathetic vibration and setting up the dynamical model of the robot.
Also in this work, the design of controling and driving system blood vessel robot has been brought forward, functions of every module have been listed in this system.
Combination of the content in this dissertation, we make progress in minimize the scale of robot, which is driven by external alternating magnetic. the prototype of robot prove the feasibility of the driving method. That may yield the development of blood vessel microrobot. Certainly, to develop a clinical wireless microrobot ,further efforts should be made.
Keywords: Ferromagnetic polymer (FMP), external field driving, swimming microrobot, microactuator
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