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Study on Insect Model-Based Robot

基于昆虫模型的机器人研究

基本信息

批准号：
04402026
负责人：
MIURA Hirofumi
金额：
$ 13.57万
依托单位：
The University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (A)
财政年份：
1992
资助国家：
日本
起止时间：
1992 至 1994
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-04402026/
关键词：
Microrobot Insect-Model Based Robot External Skeleton Ant Robot Mosquito Robot

项目摘要

The purpose of this research is to develop 1 to 10 mm sized microrobots. In this reseach, the most remarkable characteristics is that insects are considered as models for robots. In convensional robotics, the human and the mammal are models for designing the robot structure and the actuation algorithm. However, for small sized robots, the near sized insects should be selected as the model. One of characteristics of insects is that the body structure of insects is the external skeleton. External skeleton is suitable for the small sized structure.Moreover, external skeleton has good characteristic for actuation of small sized structure. In the small mechanism, the frictional force becomes greater than other forces --- the weight of body, the power of muscle, etc. --- and the mechanism cannot be deformed. On the insect, there does not exit the part which the friction force is generated. In this research, mu m sized structures were constructed refering the external skeleton of insects. Silicon process is used basically for micromachinning. Silicon film and polyimide film (low elastisity material) are assembled to get the external structure. With this structure, microant robot and micromosquito robot have been developed sucessfully. The size of these robots is about 1mm.For actuation, various new ideas have been applied. An ant robot walks with resonant vibration of legs, energy of which is supplied from vibrating floor. A mosquito robot flys with magnetized wings which beats in the alternative magetic field. A hexapod robot has also been develpoped. The motion of legs of this robot is generated autonomously like legs of insects actuated by reflex action. Reflex action of insects will be good model for actuation of micromachine to be developed in the future because of the simplicity of it.

这项研究的目的是开发1至10毫米尺寸的微型机器人。在这项研究中，最显着的特点是昆虫被认为是机器人的模型。在传统机器人技术中，人类和哺乳动物是设计机器人结构和驱动算法的模型。然而，对于小型机器人，应选择尺寸相近的昆虫作为模型。昆虫的特征之一是昆虫的身体结构是外骨骼。外骨架适用于小型结构。而且，外骨架对于小型结构的驱动具有良好的特性。在小型机构中，摩擦力变得大于其他力——身体的重量、肌肉的力量等——并且机构不能变形。昆虫上没有产生摩擦力的部分。在这项研究中，参考昆虫的外部骨骼构建了微米大小的结构。硅工艺主要用于微机械加工。硅膜和聚酰亚胺膜（低弹性材料）组装在一起得到外部结构。利用这种结构，微蚂蚁机器人和微蚊机器人已研制成功。这些机器人的尺寸约为1毫米。在驱动方面，应用了各种新想法。蚂蚁机器人通过腿部共振行走，其能量由振动地板提供。蚊子机器人用磁化翅膀飞行，翅膀在另类磁场中跳动。六足机器人也已开发出来。该机器人的腿部运动是自主产生的，就像昆虫的腿部通过反射动作驱动一样。由于昆虫的反射动作简单，因此将成为未来开发的微机械驱动的良好模型。