The establishment of the vibration model of the swimming microrobot and the calculation of the resonance frequeney and amplitude are described in details in the paper. The simulation and solid experiments of the vibration performance carried out have proven the validity of the model, thus laying foundations for the full establishment of the control model of micro-robot.
The volume of an in-tube micro robot is small and its interior space is very limited.
The results of simulation have shown that the architecture endows micro robot with the ability of learning, adaptation and robustness, also with the ability of accomplishing the given task.
We have been developing an In-pipe Wireless Micro Robot for inspection of the inner surface of pipes, in collaboration with DENSO, Toshiba and SANYO under the Japanese national R>amp;amp;D project 'Micromachine Technology' of METI.
The micro robot consists of many devices, a CCD camera for visual inspection, an actuator for locomotion, control circuits for system control, a microwave antenna and a photovoltaic device for energy supply and communication.
Through the development of the micro robot, we have successfully confirmed the wireless in-pipe locomotion and wireless image data communication of 2 frames per second.
Inverse kinematics model of parallel macro-micro manipulator system
The authors propose the concept of parallel macro-micro manipulator system from the feed support structure with a rough tuning subsystem based on a cable structure and a fine tuning subsystem based on the Stewart platform.
According to the requirement of astronomical observation, the inverse kinematics model of this parallel macro-micro manipulator system is deduced.
Dynamic trajectory tracking control of flexible manipulator by macro-micro manipulator system.
Finally, simulation results on a 4-DOF macro-micro manipulator system demonstrate the effectiveness of the proposed methods.