NEW KIND OF WIRELESS MICRO ROBOT ACTUATED AND CONTROLLED THROUGH OUTSIDE MAGNETIC FIELD

摘要

A new method to drive and control micro in-pipe robot by means of magnetic field outside pipe is put forward,in which wireless micro robot can move forward driven by the vibration of its legs through converting magnetic energy into mechanical one under the action of piezomagnetism and magnetomechanical coupling of its micro GMA,when time varied oscillating magnetic field with different frequency applied outside pipe.Firstly its systematical structure and operation principle are introduced,and energy converting process from outside magnetic one into mechanical one is analyzed through setting up the magnetic and mechanical dynamic model of GMA and establishing dynamic model of two stage amplifier of mobile carrier.Robot systematical experiments show the correctness of the theoretical analysis and its feasibility.As a result,drive and control method without cable through outside magnetic field is realized.