基于压电无阀微泵吸盘的仿生微型六足爬壁机器人研究

项目名称： 基于压电无阀微泵吸盘的仿生微型六足爬壁机器人研究

项目编号： No.61273342

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 赵言正

作者单位： 上海交通大学

项目金额： 80万元

中文摘要： 模仿小动物/昆虫在特定条件下的卓越运动功能,根据其生物机械原理研制从事恶劣环境作业的仿生机器人是近年来的研究热点之一。在自然界中，壁虎、蜘蛛、蚊蝇等小动物/昆虫并没有类似气泵的组织，却能耗费极小的能量自如地吸附或脱离被吸附面，说明对于生物来说，吸附与移动是一个有机的整体，二者很难割裂。因此，本申请提出一种基于压电无阀微泵吸盘的仿生微型六足爬壁机器人原型样机，将微型爬壁机器人的吸附与移动有机结合进行研究，包括：研究压电驱动器静/动态驱动特性和锥形管空气整流效率的优化方法，为设计高效多腔压电无阀微泵系统提供理论方法；基于流体网络理论建立微小气体通道的压电驱动微泵吸盘流体网络模型，对其附壁特性及其影响因素进行研究；同时模仿小动物/昆虫多足移动方式，研究机器人在壁面进行高效吸附/脱离/爬行的混合运动控制策略，使机器人实现移动和附壁两种模式之间自由切换，增强机器人的运动能力，具有重要研究意义。

中文关键词： 六足机器人；压电无阀微泵；柔性机构；运动感知；标定

英文摘要： It is an attractive study focus, in these years, on manufacturing biomimetic robots that can simulate small animals' or insects' excellent capabilities in a particular situation and free human beings from extreme working conditions. In nature, many animals, such as geckos, spiders, or flies, do not have organisms like pneumatic-pump, however, they can adsorb or detach a certain surface conveniently, with a remarkably small energy consumption. Essentially, adsorbing and detaching for animals, are two aspects of one unity. This application proposes a "micro-scale wall-climbing robot" prototype, which has six legs and omni-orientational capability. The adsorbing and detaching functions of micro-scale robot are to be studied together in a certain occasion.The research includes the following contents: 1) Analyzing the static/ dynamic characteristics of a piezo-actuator and optimizing the air-rectification efficiency of conical tube, these two aspects offer theoretical supports to design efficient piezo-valveless-micro-pump with multiple cavities; 2) Modeling the fluid dynamics of cupules with tiny gas channels and driven by piezo-micro-pump, analyzing the adsorption characteristics and the relative impact factors, these two are based on fluid network theory; 3) Studying on the motion control strategy for a robot to

英文关键词： hexapod robot；piezoelectric valveless micropump；compliance mechanism；inertial cognition；calibration