IPMC人工肌肉驱动的胶囊机器人推进性能优化研究

发布时间：2018-04-10 07:56

本文选题：IPMC　切入点：胶囊机器人　出处：《南京航空航天大学》2017年硕士论文

【摘要】：IPMC(Ionic Polymer Metal Composites)是一种新型智能材料,具有驱动电压低,形变位移大,质量轻,柔性好,响应迅速等优点。其优异的电致动特性和良好的生物相容性使其在仿生医学领域的应用研究日益得到重视。本文针对目前临床上商用胶囊内窥镜无法实现主动控制的缺陷,设计一种IPMC驱动的胶囊机器人,研究基于IPMC驱动胶囊机器人推进性能的影响因素并进行优化,提升胶囊机器人IPMC驱动的稳定性和推进性能。研究内容主要包括以下几个方面:(1)按照标准工艺通过化学镀的方法制备胶囊机器人所需的IPMC驱动材料;为胶囊机器人推进性能优化实验提供所需的控制信号。(2)对胶囊机器人进行功能规划,主要实现胶囊机器人在人体内的主动钳位和主动驱动功能。对胶囊机器人整体结构进行设计并采用激光3D打印加工。针对胶囊机器人尾部IPMC驱动进行仿生设计,并在单尾鳍推进模式的基础上进行优化,提出双尾鳍推进模式的胶囊机器人。(3)对胶囊机器人进行驱动测试,分析胶囊机器人推进性能的影响因素并进行优化。实验表明,双尾鳍结构胶囊机器人最大游动速度可达到15 mm/s。搭建测试平台在模拟肠道环境下实现胶囊机器人的主动驱动和主动钳位功能。(4)使用三维力传感器搭建推进力测试平台,测量不同尾鳍结构下胶囊机器人的推进力,并用ANSYS FLUENT进行流体动力学仿真。研究结果表明,相对于单尾鳍结构胶囊,双尾鳍结构胶囊速度提升约25%-30%,推进力提升约40%-50%。双尾鳍结构胶囊机器人克服了单尾鳍推进存在的侧向摆动问题,保证了胶囊机器人运动时的稳定性,提高了推进速度与推进力,有利于胶囊在人体内的主动控制和医疗作业。
[Abstract]:IPMC(Ionic Polymer Metal composer is a new type of intelligent material, which has the advantages of low driving voltage, large deformation displacement, light weight, good flexibility and rapid response.Due to its excellent electrokinetic properties and good biocompatibility, its application in biomimetic medicine has been paid more and more attention.In this paper, a capsule robot driven by IPMC is designed, which is unable to realize active control by commercial capsule endoscope in clinic. The factors affecting the propulsion performance of capsule robot driven by IPMC are studied and optimized.Improve the stability and propulsion performance of capsule robot IPMC drive.The main contents of the research include the following aspects: 1) the IPMC driving material for the capsule robot is prepared by electroless plating according to the standard process.In order to provide the necessary control signal for the optimization experiment of the propulsion performance of the capsule robot, the function planning of the capsule robot is carried out, which mainly realizes the active clamping and the active driving function of the capsule robot in the human body.The whole structure of capsule robot was designed and processed by laser 3D printing.Aiming at the bionic design of the tail IPMC drive of the capsule robot, and based on the optimization of the single caudal fin propulsion mode, a capsule robot with double caudal fin propulsion mode is proposed to carry out the driving test of the capsule robot.The factors affecting the propulsion performance of capsule robot were analyzed and optimized.The experimental results show that the maximum swimming speed of the capsule robot with double caudal fin structure can reach 15 mm / s.The active driving and active clamping function of capsule robot is realized under simulated intestinal environment. (4) Three-dimensional force sensor is used to build propulsion force test platform to measure the propulsion force of capsule robot under different caudal fin structure.The hydrodynamic simulation is carried out with ANSYS FLUENT.The results show that compared with single caudal fin structure capsule, the speed of double caudal fin structure capsule is increased by 25 to 30 percent, and the propelling force is increased by about 40 to 50 percent.The double caudal fin structure capsule robot overcomes the lateral swing problem of single caudal fin propulsion, ensures the stability of the capsule robot in motion, improves the propulsion speed and propulsion force, and is beneficial to the active control and medical treatment of the capsule in the human body.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】