一种人体消化道微小蠕动机器人设计  

Design of a kind of mini creepage robot for the digestive tract of human body

作　　者：马官营[1] 颜国正[1] 王坤东[1] 

机构地区：[1]上海交通大学精密工程及智能微系统研究所,上海200240

出　　处：《机械设计》2007年第7期17-19,共3页Journal of Machine Design

基　　金：国家863计划资助项目(2001AA422210)

摘　　要：针对人体消化道环境,设计了一种微小蠕动机器人。机器人采用多节柔性结构,包括前舱、后舱和运动节。前舱内有控制模块、无线通讯模块、传感模块,直流电机和减速器组成动力源,放置在后舱。运动节采用丝杠螺母机构,按照设计的控制序列可以把螺母与运动表面的摩擦力转化为牵引力,设计了基于形状记忆合金的啮合螺母以及双万向节连接机构。制造的机器人样机直径Φ10.6mm,长度118mm,结构简单,功耗低,具有一定实用前景。Aiming at the environment of digestive tract of human body, a kind of mini creepage robot was designed. The robot adopted muhi-jointod flexible structure that includes the front cabin, rear cabin and the kinetic joint. The controlling module, the radio communication module and the sensor module were mounted in the front cabin and the power source that constitutes of the DC motor and speed reducer was deposited in the rear cabin. The lead screw and nut mechanism was adopted by the kinetic joint, and the frictional force between the nut and the moving surface can be transformed as the traction force according to the controlling sequence of design. The meshing nut made with shape remembrance alloy and the double gimbal linking mechanisms were designed. The diameter and the length of prototype of robot being manufactured were φ10.6 mm and 118 mm respectively, and with simple structures and low power consumption, thus possesses a certain application prospects.

关 键 词：蠕动机器人 SMA 步态 消化道 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]