一种高性能花瓣廓形胶囊机器人

发布时间：2018-05-28 22:40

本文选题：花瓣型胶囊机器人 + 多楔形效应　；参考：《机械工程学报》2017年03期

【摘要】：为提高肠道内综合驱动性能,提出一种新型花瓣状结构胶囊机器人,机器人表面四块偏心花瓣廓形与管壁形成四个收敛楔形空间,使流体运动路径发生改变并产生多楔形效应。根据库埃特流动理论,借助牛顿内摩擦定律建立花瓣型胶囊机器人流体动力学模型,在求得机器人稳态游动速度、流体动压力和液体扭转力矩解析解的基础上,对花瓣型胶囊机器人综合性能进行研究。理论与试验证明花瓣型胶囊机器人表面流体动压与稳态游动速度更大,流体扭转力矩更小。花瓣型胶囊机器人的综合性好,实现机器人在管道内全悬浮式非接触游动,诊断遍历时间更短,对肠道的扭曲作用更小,安全性更高,在胃肠道诊断领域实用前景良好。
[Abstract]:In order to improve the integrated driving performance of intestinal tract, a new petal-like structure capsule robot was proposed. The four eccentric petal profiles on the surface of the robot and the tube wall formed four convergent wedge-shaped spaces, which changed the path of fluid motion and produced multi-wedge effect. Based on Kuette's flow theory and Newton's law of internal friction, the hydrodynamic model of petal-shaped capsule robot is established. The analytical solutions of steady swimming velocity, fluid dynamic pressure and torsional torque of the robot are obtained. The comprehensive performance of petal capsule robot was studied. The theoretical and experimental results show that the surface hydrodynamic pressure and steady swimming velocity of petal capsule robot are larger and the torque of fluid torsion is smaller. The petal-shaped capsule robot has good integrality, the robot can be suspended in the pipeline, the diagnostic traversal time is shorter, the distortion of the intestine is smaller, the safety is higher, and the utility prospect of the robot in the field of gastrointestinal diagnosis is good.
【作者单位】：大连理工大学精密与特种加工教育部重点实验室;
【基金】：国家自然科学基金资助项目(61175102,51277018)
【分类号】：TP242

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