粘性流体内花瓣型胶囊机器人驱动特性  

Driving characteristics of petal-shaped capsule robot in viscous fluid

作　　者：张雨[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4期4-7,共4页Modern Machinery

基　　金：国家自然科学基金资助项目(61175102;51277018)

摘　　要：以花瓣型胶囊机器人为模型,推导机器人表面流体运动规律。通过解析法求得机器人外围流体动压力表达式,以牛顿内摩擦定律为基础得到液体阻力矩模型,对比研究花瓣型和圆柱形两种胶囊机器人管道内悬浮能力,分析流体粘度对不同廓形胶囊机器人液体阻力矩的影响,得到花瓣型胶囊机器人能够悬浮在管道中避免与管道接触,同时可以降低磁场线圈功耗,且流体环境适应能力强,提高了临床应用的可行性。Taking the petal shaped capsule robot as the model,the motion law of fluid on the surface of the robot is derived.The expression of ambient fluid dynamic pressure of the robot is obtained by analytic method. Fluid resistance moment model is established based on the Newton inner friction law. By contrasting the suspension capability of the two capsule robot—petal-shaped and cylinder-shaped,the effects of viscosity on fluid resistance moment of capsule robots with different profiles are analyzed,the results show that petal-shaped capsule robot can suspend completely in the pipe,reduce the power waste of magnetic field coil,adapt effortlessly the fluid environment,which improve the feasibility of clinical application.

关 键 词：花瓣型机器人 流体动压力 液体阻力矩 流体粘度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]