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。
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 and experimental researches on the relationship between its spiral parameters and swimming speed are carried out, resulting in the discovery of critical gap phenomenon. With big drive torque, this kind of robot is suitable for swimming inside an enclosed pipe full of high viscosity liquid, and it has good prospect of application inside human intestine and blood vessel.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2009年第8期18-23,共6页
Journal of Mechanical Engineering
基金
辽宁省自然科技基金(20082171)
国家自然科学基金(60675054
60875064)资助项目
关键词
胶囊微型机器人
旋转磁场
螺旋参数
运动特性
Capsule micro robot Rotation magnetic field Spiral parameters Kinematics characteristics
