微型泳動式管道機器人的研究與設計.pdf

1、分類號：UDC：密級：編號：工學碩士學位論文微型泳動式管道機器人的研究與設計碩士研究生：任思璩指導教師：王科俊教授學位級別：工學碩士學科專業(yè)：模式識別與智能系統(tǒng)所在單位：自動化學院論文提交日期：2008年2月論文答辯A期：2008年3月學位授予單位：哈爾濱工程大學哈爾濱丁程大學碩十學何論文ABSTRACTManykindsofflawwillappearonsmallpipelinesofindustrialequipmentswhen

2、theyareusedforalongtime，whichcandoharmtodailyproductionandlifeDemandsofpiperobotswithdetectionorrepairincreasealot，sincethosesmallpipelinesareverydifficulttoexamineandrepairDuetotheconstraintofpowersupplycurrentin—pipero

3、botcannotworkinlongdistanceandforalongtimeOnthebasisofswimmingtheoriesoffishandtadpole，SOtheresearchismadeonthedesignofanovelcablelessin—piperobot，Byusingthetailfin，itproducespropulsionforcewhenitisswayedundertheactuatio

4、nbyalternatingmagnetic，SOitCanrealizeswimmingofmicrorobotTheswimmingpropulsionprincipleofthemicrorobothasbeenanalyzedindetail，anditalsogivesitsmotionanddynamicsmodelsofundulatorypropulsionThepapergivesthewholecontrolsyst

5、emdesignofthein—piperobot，whichincludeselectromagnetdrivemodule，communicationmodule，powermoduleetcControlsystemontheAVRisdevelopedsuccessfullyitincludeshardwarecircuitandprogrammesoftwarewehavedesignedexaminationcircuito

6、fmotorpositionfromhardandsoftwaresthatcombineswithprimarycontrolcircuitandactualrequegItrealizesclosedloopcontrolbycombiningwithcheckingandcountingfunctionofMCU，andgainsgoodeffectFinallyswimmingexperimentsonthemicrorobot

7、areconduced，andanalysizestherelationshipofthespeedanddifferentmagneticfrequencyTheexperimentalresultsshowthatthemicrobothasgoodswimmingperformance，anditCanbedrivenbyexteriormagneticfieldwithoutcableiSrealizedKeywords：mic