二次曲线廓形胶囊机器人速度分析  

Swimming speed analysis of a quadratic curve shaped capsule robot

作　　者：张林霞[1] 张永顺[1] 

机构地区：[1]大连理工大学精密与特种加工教育部重点实验室,辽宁大连116024

出　　处：《现代机械》2017年第2期1-4,共4页Modern Machinery

摘　　要：在圆柱机器人基础上提出一种二次曲线廓形胶囊机器人,表面二次曲面与管壁形成四个收敛楔形空间,使流体运动路径发生改变并产生多楔形效应。建立流体动力学模型,对机器人稳态游动速度进行求解分析。研究结果表明,二次曲线廓形胶囊机器人稳态游动速度更大,提高了肠道内驱动性能、安全性与作业效率,实用前景良好。A quadratic curve shaped robot is proposed based on cylindrical robot, four convergent wedge gaps are formed be- tween the quadric surface and the pipe wall, the motion path of the fluid is changed and multiple wedge effects happens to the fluid. The fluid dynamics model of the robot is established to solve and analyze the steady swimming speed of the robot. The results showed that the quadric curve shaped robot can achieve higher speed, better safety and driving performance in intestinal. The quadratic curve profile robot has a good application prospect.

关 键 词：二次曲线廓形 胶囊机器人 多楔形效应 稳态游动速度 

分 类 号：TH122[机械工程—机械设计及理论]