摘要
近年来随着微细加工技术、微机电技术以及医疗事业的发展，在国际上对各种微型管道机器人和医用微型机器人的研究十分活跃。微型机器人由于具有惯性小，谐振频率高，响应时间短等特点，使其在生物医学、航空航天、军事等方面显示出广阔的应用前景。
本文首先介绍了水下微型机器人的研究背景，详细介绍了国内外微型机器人的发展现状以及微型机器人研究的关键技术和难点。并给出了本课题的研究意义和研究内容。
然后提出了一种基于离子导电聚合物薄膜(ICPF)驱动的仿生微型机器人，分析了该微型机器人的驱动机理和基本游动特性，对微型机器人进行了运动学和动力学分析，并建立了理论研究模型。
针对该微型机器人总体结构和驱动原理等特点，提出了两种相关的运动控制方法，即基于光电传感器的自动巡迹运动的实现方法和静态场景下基于图像处理的目标识别与跟踪的实现方法。其中详细介绍了CamShift算法和跟踪算法的原理。
最后对整个课题和论文的工作进行了总结和展望。
With the development of micro-fabrication, micro electro-mechanical system and medical treatment, the study of micro pipeline robots and medical micro-robots is very active. Now, the microrobots have shown broad prospect in the application of biomedicine, aeronautics and astronautics, and military affairs, as they have low inertia, high resonance, short response time and etc.
Firstly the research background is introduced, and the internal and external study situation of underwater micro-robots and the key technologies and difficulties of micro-robots are analyzed in detail. The significance and contents of studying are presented.
Then this paper presents a new type of underwater biomimetic micro-robot driven by ionic conducting polymer films (ICPF). The propelling principle and basic swimming characteristics of the micro-robot are analyzed. Through the analysis of the kinematics and dynamics of the microrobot, the theoretical model is build up.
Two correlative motion control method are introduced. They are automatic navigation based on photo sensor and target identification and track based on image manipulation under static state. The theory of Camshift algorithm and tracing algorithm are explained in detail.
Finally, the summary and prospects of the whole research work are presented.
引文
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