肠道无创诊疗系统的微型直线驱动器技术  

Technologies of Micro Linear Actuator for Intestinal Tract Non-invasive Diagnosis and Therapy System

作　　者：叶东东[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：《上海交通大学学报》2008年第2期337-340,共4页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金(305-07-485)资助项目

摘　　要：介绍了一种新型仿蚯蚓蠕动微型机器人直线驱动器的结构,建立了微型直线驱动器有限元模型,根据有限元模态分析结果设计并优化了微型直线驱动器,避免了系统共振的产生.建立了该微型直线驱动器的数学模型,并进行了动力学分析.仿真和实验表明,该微型直线驱动器的阶跃响应时间短,受负载变化影响小,在额定电压工作时驱动力达可到2.55N,温升在36℃以下.研究结果为仿蚯蚓蠕动机器人在人体肠道运行的安全性和可行性提供了理论基础.The structure of a new linear actuator of earthworm-like micro robot was introduced. The finite element model of micro linear actuator was built. Micro linear actuator was designed and optimized to avoid sympathetic vibration of system according to the analysis of finite element. The simulation and experimental results show that the step response of micro linear actuator is short and the infection of load is small. The driving force of micro linear actuator can reach to 2.55N and the temperature rise is under 36℃. This research has laid a theory foundation for the motion security and feasibility of the earthworm-like micro robot in the human intestines lumens.

关 键 词：直线驱动器 蠕动机器人 有限元 动力学 

分 类 号：TM351[电气工程—电机]