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提出一种以外旋转磁场驱动的具有径向间隙自补偿功能的可变径胶囊机器人,研制了外旋转磁场驱动装置和可变径胶囊机器人样机,建立了胶囊机器人在柔弹性环境内的径向动平衡方程和机器人运动方程,对胶囊机器人在柔弹性壁和刚性壁流体环境内的动态特性进行了比较分析,理论与试验研究表明变径胶囊机器人在柔弹性管和刚性管内具有几乎相同的动态驱动特性.在径向间隙自补偿功能作用下,显著提高了胶囊机器人外表面螺旋肋处的流体动压力、推力和胶囊机器人的管径适应性,通过旋转磁场转速的调整,实现了机器人推力与速度的控制.该新型胶囊机器人具有适合柔弹性管壁内驱动的特点,在人体肠道复杂环境内的介入医疗领域具有良好的应用前景.
A variable-diameter capsule robot with radial gap self-compensation function driven by a rotating magnetic field is proposed. An external rotating magnetic field driving device and a variable-diameter capsule robot prototype are developed. The radial motion of the capsule robot in a flexible environment Equilibrium equations and robot equations of motion, the dynamic behaviors of capsule robots in flexible and rigid wall fluid environments are comparatively analyzed. Theoretical and experimental studies show that the variable geometry capsule robots have almost the same dynamic drive in flexible and rigid tubes Characteristics.At the function of radial clearance self-compensation, the hydrodynamic pressure, thrust force and diameter adaptability of the capsule robot at the spiral ribs on the outer surface of the capsule robot are remarkably improved, and the adjustment of the rotating magnetic field speed achieves the effect of the robot thrust and speed The novel capsule robot has the characteristics of being suitable for driving in the flexible tube wall and has good application prospect in the interventional medical field in the complex environment of the human intestine.