新型模块化自重构移动微接力机器人设计与其对接研究

A novel modular self-reconfigurable mobile relay microrobot is proposed, which adopts the reconfigurable way of power and wireless communication relays, so as to enlarge its individual detection range by collaboration among multiple units. The movement mechanism of the microrobot actuated by electromagnetic micromotors and its electromagnetic microconnector (unilateral size<4mm) with mechanical and electrical interfaces are respectively designed based on MEMS technology. The dynamic model of the microconnector is established, and then the optimal design method of its parameter is researched by FEM (Finite Element Method). The modular design method of the microrobot and the miniaturization technology of its control system integration are respectively studied. The fabrication method based on UV-LIGA and ultra-precision machining technologies of the microrobot is set up. The IR positioning system of the microrobot is designed with the goal of least hardware consumption, and then the positioning methods based IR RSSI (Received Signal Strength Indication) in long range and IR CA (Centering Alignment) in short range are researched. On the basis, the proximity control method and strategy between the microrobots are researched, so that it has the capacity of autonomous docking in long range (0-3m) under the condition of the small size limit (unilateral size<3cm). The application has important significance whether in developing related technologies of self-reconfigurable microrobot or in promoting practicality of multiple mobile micorobots.

提出采用基于动力接力和无线通信接力的重构方式，研究一种新型的模块化自重构移动微接力机器人，目的是通过多微机器人协作扩展其个体有限的探测范围。以MEMS加工技术为基础，设计基于电磁微马达驱动的移动机构和机械电气一体化的电磁型微连接器（单边尺寸<4mm）。建立该微连接器的动力学模型，并以有限元的方法研究其参数优化的设计方法。研究该微机器人模块化的设计方法与其控制系统集成的微型化技术。创建该微机器人基于准LIGA和超精密加工技术的制作方法。以消耗硬件资源最少为目标，设计该微机器人的红外定位系统，并研究其长距离内基于红外强度和短距离内基于红外集中对准的定位方法。在此基础上研究该微机器人之间的接近控制方法与策略，使其能在微小尺寸限制下（单边尺寸<3cm）和较远的距离范围内（0-3m）具有对接能力。本项目研究无论是推动自重构微机器人相关技术发展还是在促进多移动微机器人可实用化方面都具有重要意义。

本研究课题完成研究一种微型机器人系统及其对接，并在此基础上，以消耗硬件资源最少为目标，设计了一套微机器人机构及其红外定位系统，并研究其长距离内基于红外强度和短距离内基于红外集中对准的定位方法。在此基础上完成研制该微机器人之间的接近控制方法与策略，其能在微小尺寸限制下（单边尺寸<3cm）和较远的距离范围内（0-3m）具有对接能力。