论文部分内容阅读
根据仿生尺蠖运动机理研制了一种用于人体腔道微创诊查的微小机器人系统,该机器人系统由前支撑单元、后支撑单元和具有3个气室的橡胶驱动器三部分组成。根据微型机器人的本体结构分析了机器人的移动控制原理,给出了在一个运动循环周期内机器人移动一个步距的运动状态和控制时序。阐述了有限状态机原理,并基于有限状态机原理建立了该机器人移动状态的有限状态机模型。在一个运动周期内移动机器人的运动状态可细分为6个状态过程,通过分析该机器人系统一个运动循环周期内各种运动状态和各状态之间的转换的关系,编制了相应的仿真算法,并通过该实验验证了该仿真算法的可行性和模型的正确性,研究结果表明基于有限状态机模型的控制算法可实现该微小机器人移动的有效控制。
According to the movement mechanism of bionic scale 研, a micro robot system for minimally invasive diagnosis of human body cavity was developed. The robot system consists of a front support unit, a back support unit and a rubber drive with three air chambers. According to the structure of the robot, the principle of the robot’s movement control is analyzed, and the movement state and control sequence of the robot moving one step in a cycle are given. The principle of finite state machine is expounded and the finite state machine model of the moving state of the robot is established based on the principle of finite state machine. The movement state of the mobile robot in one motion cycle can be subdivided into six states. The corresponding simulation algorithm is compiled by analyzing the relationship between the various motion states and the transitions of the states during a motion cycle of the robot system. The feasibility of the simulation algorithm and the correctness of the model are verified by the experiment. The results show that the control algorithm based on finite state machine model can effectively control the movement of the micro-robot.