胶囊机器人的柔顺钳设计与性能分析  

Design and performance analysis of compliant forceps for capsule robot

作　　者：吴瑞莹 甘中学 欧阳春 胡林强 张宏达 WU Ruiying;GAN Zhongxue;OUYANG Chun;HU Linqiang;ZHANG Hongda(Academy for Engineering and Technology,Fudan University,Shanghai 200433,China)

机构地区：[1]复旦大学工程与应用技术研究院,上海200433

出　　处：《传感器与微系统》2023年第6期70-73,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金青年科学基金资助项目(62201156);上海市科技重大专项项目(2021SHZDZX0103)。

摘　　要：针对胶囊机器人活检钳中零部件数量多、装配复杂的问题,提出了一种基于柔顺双稳态机构理论的柔顺钳。利用伪刚体模型对柔顺钳的双稳态特性进行理论分析,并设计有限元仿真与样机测试试验。在厚板夹持试验中,柔顺钳由开到闭切换,产生0.95 N的静态夹持力峰值,利于对组织破坏后夹取。通过有限元仿真模拟了不同铰链参数对柔顺钳双稳态特性的影响,其双稳态特性随着铰链厚度t的增大而先增大后减小直至消失。组织交互仿真试验中,柔顺钳有双稳态特性,组织所受最大等效应力在0.563~1.235 MPa范围;柔顺钳失去双稳态特性后,组织所受最大等效应力在0.230~0.403 MPa范围。该柔顺钳的结构简单,对组织有更大的破坏应力,为胶囊机器人活检提供新的思路。Aiming at the problem of large number of parts and complex assembly in capsule robot biopsy forceps,a compliant forceps based on compliant bistable mechanism theory is proposed.The pseudo-rigid body model is used for theoretical analysis of bistable characteristics of the compliant forceps,and the finite element simulation and prototype test are designed.In the thick plate clamping test,the flexible forceps switch from open to closed,produce a static clamping force peak of 0.95 N,which are conducive to clamp after damaging tissue.The influence of different hinge parameters on bistable characteristics of compliant forceps is simulated by finite element simulation.The bistable characteristics firstly increase,then decrease,and finally disappear with the increase of hinge thickness t.In the tissue interactive simulation test,the compliant forceps has bistable characteristics,and the maximum equivalent stress of the tissue is 0.563~1.235 MPa.After the compliant forceps loses its bistable characteristics,the maximum equivalent stress that the tissue beared is at the range of 0.230~0.403 MPa.The compliant forceps have simple structure and greater destructive stress on tissues.This design provides a new idea for capsule robot biopsy.

关 键 词：胶囊机器人活检 柔顺钳 双稳态特性 伪刚体模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH112[自动化与计算机技术—控制科学与工程]