一个超快的毫米尺度微机器人通过振动模式转换向前和向后控制
Xian Yu1, Wencheng Zhan1,2, Zhiwei Liu1,3,4,5
1School of Energy and Power Engineering, Beihang University, Beijing, China.
Science advances
|October 25, 2024
概括
这项研究介绍了BHMbot-B,一种能够快速前后移动的微机器人. 这种能力对于在不转向的情况下在狭窄的空间中导航至关重要,增强了微型机器人的机动性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 生物模拟学是一种生物模拟学.
背景情况:
- 毫米尺寸的微机器人需要向后移动才能在狭窄的,死胡同的环境中导航.
- 现有的微机器人往往缺乏有效的向后运动能力,限制了它们的操作范围.
研究的目的:
- 开发一个具有强大的前后移动能力的微机器人.
- 为了使微机器人能够在狭窄的空间中执行复杂的轨迹.
主要方法:
- 介绍了BHMbot-B,一个长达15毫米的双腿微机器人.
- 利用磁铁的振动模式过渡控制,悬臂和用于移动的链接.
- 集成的双电磁执行器,内置电池和用于无线操作的控制电路.
主要成果:
- 通过振动模式控制实现了相位 (向前) 和反相位 (向后) 的同步投球和前腿振动.
- 演示了复杂的运行轨迹的无线命令执行.
- 记录的最大无速度为18.0个车身长度/秒 (360毫米/秒) 前进和16.9个BL/秒 (338毫米/秒) 后退.
结论:
- BHMbot-B表现出高效,高速的双向机动车.
- 振动模式过渡控制是微机器人机动性的有效策略.
- 微型机器人的设计可以在具有挑战性的,狭窄的环境中方便导航.
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