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Design and Dynamics Control of Six Degree of Freedom Microrobot
Motekallem, Abolfazl | 2017
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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 49931 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Sayyaadi, Hassan
- Abstract:
- The field of microrobotics has seen tremendous advances in recent years. Potential high impact applications of untethered microrobots such as minimally invasive diagnosis and treatment inside the human body, biological studies or bioengineering, microfluidics, desktop micromanufacturing, and mobile sensor networks for environmental and health monitoring are reported. However, There are significant challenges in microrobotic technology, including energy resources, control systems, reliability and safety, design and manufacturing of micromotors and localization. In this work, overall size scale being micron scale is emphasized where mobile robots able to fit in spaces smaller than a millimeter are considered as microrobots, since the overall size dictates the environment in which the robots are capable of accessing, and also tells us something about their capabilities. On the other hand, a more relevant definition when studying novel wireless locomotion schemes might involve the types of physical interactions which dominate the motion and interaction of the robot. In this work, a microrobot with a multi component propulsion systems based on motion principle of living microorganisms is presented. The properties of this propulsive mechanism are estimated by modeling the dynamics of the swimming methods and hydrodynamics interactions between microrobot and surrounding fluid flow. For dynamic modeling and analysis of a tiny microrobot, which composed of a spherical head and four helix tail, the resistance force theory (RFT) is used to calculate thrust force, required torque, linear and angular velocities. In addition, a new schema of microrobot design based on heuristic algorithms and vector field optimization has been proposed to determine the optimal geometrical characteristics of the propulsion system components. As regarding the qualitative constraints of microrobot design, the suggestion of unique solutions in multi dimentional Pareto front, has been done using artificial intelligence. Since the governing dynamics of microrobot is nonholonomic and drifless, therefore for motion planning tasks, the kinematic model of the system is obtained and the issues related to nonlinear controllability of the system are studied in detail. For the purpose of control design, the system is converted into chained form. The method of converting a multi input nonholonomic system into a chained form is also discussed. Among the most important achievements of this research can be found, new propulsion system, significant increase in hydrodynamics efficiency, the providing of a new design based on vector field optimization and proposed mathematical model for the analysis and design controller for microrobot with a multi component propulsion systems. It is obvious that the research has tried to address a number of the most important challenges ahead in reaching ideal point of the microrobot technology
- Keywords:
- Nonlinear Control ; Micro Robot ; Heuristic Method ; Low Reynolds Number ; Bionic ; Six Degree of Freedom Robot ; Vector Field Optimizetion
- محتواي کتاب
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- تقدیم به
- تشكر و قدرداني
- چکیده
- فهرست مطالب
- 1-1 مقدمه 2
- 1-2 تاریخچه مختصر میکرورباتها 5
- 1-3 اهداف پژوهش 8
- 1-4 مروری بر فصلهای گزارش 9
- 2-1 مقدمه 12
- 2-2 مکانیزم حرکتی میکروارگانیسمها 14
- 2-3 دینامیک سیالات اعداد رینولدز پایین 20
- 2-4 طراحی بایونیک میکروربات 26
- 3-1 مقدمه 30
- 3-2 مطالعات بیولوژیکی 30
- 3-3 تحلیل هیدرودینامیکی سیالات ویسکوز 31
- 3-4 تاریخچه طراحی و ساخت میکرورباتها 41
- 4-1 مقدمه 45
- 4-2 مدلسازی دینامیکی میکروربات 46
- 5-1 مقدمه 89
- 5-2 بهینهسازی میدان برداری با استفاده از هوش ازدحامی 89
- 5-3 تحلیل و حذف اغتشاش فضای جواب بهینهسازی میدان برداری 112
- 5-4 معیارهای انتخاب جواب در فضای جواب بهینهسازی میدان برداری 119
- 6-1 مقدمه 135
- 6-2 بیان ریاضی مدل کنترلی 135
- 6-3 تئوری Chows 137
- 6-4 مدل سینماتیکی میکروربات 138
- 6-5 بررسی کنترلپذیری مدل سینماتیکی میکروربات 140
- 6-6 شکل زنجیرهای مدل سینماتیکی میکروربات 141
- 6-7 کنترل شکل زنجیرهای با استفاده از خطیسازی دقیق پسخوراند 146
- 6-8 شبیهسازی عددی کنترل کننده میکروربات 151
- 7-1 مقدمه 161
- 7-2 دستاوردهای پژوهش 162
- 7-3 پیشنهادات تحقیقات آینده 163
- فصل 1
- فصل 2
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- فصل 5
- فصل 6
- فصل 7
- مراجع
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