新型肠道胶囊式微型机器人运动特性.PDFVIP

第 45 卷第 8 期 机 械 工 程 学 报 Vol.45 No. 8 2009 年 8 月 JOURNAL OF MECHANICAL ENGINEERING Aug. 2009 DOI ：10.3901/JME.2009.08.018 新型肠道胶囊式微型机器人的运动特性* 张永顺 于宏海 阮晓燕 王 楠 郭东明 (大连理工大学精密与特种加工教育部重点实验室 大连 116024) 摘要：提出一种胶囊微机器人的外旋转磁场驱动方法，原理是以径向磁化瓦状多磁极构成的圆筒形 NdFeB 永磁体为外驱动 器，以胶囊微机器人内嵌同磁极结构 NdFeB 永磁体为内驱动器，通过外驱动器旋转产生旋转磁场的磁机耦合作用，形成内 嵌驱动器对胶囊微机器人的驱动力矩，在胶囊表面螺旋与流体形成的动压力作用下，实现胶囊微机器人在肠道内旋进。首先 介绍胶囊微机器人系统的结构，然后根据雷诺和 Navier-Stokes 方程建立管道环境内胶囊微机器人的运动数学模型，对其螺 旋参数与速度的关系进行理论与试验研究，并发现了临界间隙现象。试验表明，该胶囊微机器人具有驱动力矩大、适合大粘 度液体封闭管道内行走等特点，在人体肠道和血管内具有很好的应用前景。 关键词：胶囊微型机器人 旋转磁场 螺旋参数 运动特性 中图分类号：TP242.2 Kinematics Characteristics of a New Capsule-type Micro Robot in Intestine ZHANG Yongshun YU Honghai RUAN Xiaoyan WANG Nan GUO Dongming (Key Laboratory for Precision Non-traditional Machining, Ministry of Education, Dalian University of Technology, Dalian 116024) Abstract ：A non-contact drive and control method on capsule type micro robot is actuated by extended rotation magnetic field proposed, in which exterior permanent magnet driver is composed of multiple magnetic poles magnetized in radial direction, and interior permanent magnet driver built in the robot is in the same structure as exterior one. On the action of magneto mechanical coupling of rotating magnetic field generated by turning of exterior driver, the robot is spun forward in intestine by propulsion in axial direction generated by the function of fluid dynamic pressure distributed on spiral surface of the robot. Firstly the structure of capsule micro robot system is introduced, then a kinematics mathematical model of capsule micro robot in pipeline environment is established on the basis of Renault and Navier-Stokes equation. Finally theoretical an