Study on Peristaltic Crawling Micro-Machine Using Magnetic Fluid

磁流体蠕动爬行微型机械的研究

• 批准号: 13650284
• 负责人: SAGA Norihiko
• 金额: $ 1.98万
• 依托单位: Akita Prefectural University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650284/
• 关键词: Microrobot; Biomechanism; Earthworm; Magnetic Fluid; Locomotion; Artificial Muscle; Magnetism; Microrobot

Attention was paid to the peristaltic crawling of earthworm as transport function in place of wheels or ambulation, and based on these observations a micro robot running inside a tube using magnetic fluid was developed. In this micro robot, a cell corresponding to earthworm's segment is composed of a natural rubber tube sealed with water-based magnetic fluid, and the cells are connected with elastic rods made of natural rubber.Moreover, we propose an earthworm type robot that adopts a soft artificial muscle actuator in order to resolve these disadvantageous problematic points. In this configuration, a cell equivalent to a segment of the earthworm is composed of the new artificial muscle actuator, and the cells are connected with the attachments. This paper presents the new artificial muscle actuator, and the cells are connected with the attachments. This paper presents the analytical result of the peristaltic crawling of an actual earthworm and the evaluation result of transport mechanism of a prototype micro robot moved by magnetic field and air pressure.

人们注意到蚯蚓的蠕动爬行取代了轮子或行走的运输功能，并在此基础上开发了一种使用磁流体在管内运行的微型机器人。在该微型机器人中，一个对应于蚯蚓节段的细胞由一个用水基磁流体密封的天然橡胶管组成，细胞之间用天然橡胶制成的弹性杆连接，并提出了一种采用柔性人工肌肉驱动器的蚯蚓类机器人，以解决这些不利的问题。在这种配置中，由新型人工肌肉致动器组成相当于一段蚯蚓的细胞，细胞与附着物相连。本文介绍了一种新型的人工肌肉执行器，它的细胞与附着物相连。本文给出了实际蚯蚓蠕动爬行的分析结果和在磁场和气压作用下移动的微型机器人样机输送机构的评价结果。

项目成果

島田 邦雄 他: "MCF(磁気混合流体)の流体力学的特性と磁化特性"日本機械学会論文集(B編). 67・664. 122-128 (2001)

Kunio Shimada等：“MCF（磁性混合流体）的流体动力学特性和磁化特性”日本机械工程师学会会议记录（B版）122-128（2001年）。

Norihiko Saga et al.: "A Prototype of Peristaltic Robot Using Pneumatic Artificial Muscle"Intelligent Autonomous Systems. 8. 88-95 (2004)

Norihiko Saga等人：“使用气动人工肌肉的蠕动机器人原型”智能自主系统。

Norihiko Saga et al.: "Development of new actuator using artificial muscle"Proceedings of SPIE's 9th Annual International Symposium on Smart Structures and Materials. 4695. (2002)

Norihiko Saga 等人：“使用人造肌肉开发新型执行器”SPIE 第九届智能结构和材料国际研讨会论文集。

Norihiko Saga et al.: "Elucidation of propulsive force of micro robot using magnetic fluid"Journal of Applied Physics. 91・10. 7003-7005 (2002)

佐贺典彦等：“利用磁流体的微型机器人的推进力的阐明”应用物理学杂志91・10（2002）。

Norihiko Saga et al.: "Development of peristaltic crawling robot using magnetic fluid on the basis of locomotion mechanism of earthworm"Smart Materials and Structures. 13. 566-569 (2004)

Norihiko Saga等人：“基于蚯蚓运动机制的磁流体蠕动爬行机器人的开发”智能材料与结构。