一种可越过凸凹障碍的仿医蛭管内微型机器人

Research on a New Kind of Micro Peristaltic Robotin Pipeline Simulating a Medicinal Leech

基于医蛭的内部结构和运动机理 ,提出了一种新型的、可越过管内凸凹障碍的仿医蛭管内蠕动微型机器人 ,解决了管内微型机器人的通过性问题 .该微型机器人由两个爬行部件、一个收缩部件和控制系统组成 ,具有可沿任意方向转弯和可通过锥形。

Based on the structure and the locomotion principle of a medicinal leech,a new kind of micro peristaltic robot in pipeline simulating a medicinal leech was presented,which is suitable for going across protruding or concave impediment. The presentation of the micro robot mainly solves the problem for a micro robotin pipeline to go across impediments.The robotis made up of two crawling parts,an extend- ing and contracting partand a control system.The micro robothas many advantages,such as moving in all directions and crossing a cone or linear or arc connection of a pipeline.