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针对目前主动式胶囊机器人存在的安全性和有效性问题,提出了一种基于伸缩和平移机构的腿式胶囊机器人.其中,伸缩机构采用微型连杆结构,平移结构采用丝杠-螺母结构.在空间位置、速度和输出力等约束条件下,对这两套驱动机构进行建模和分析,实现尺寸参数和电动机工作参数的优化.经过优化,伸展速度的范围为16.8 mm/s~34.2 mm/s,伸展力的范围为2.45 N~0.44 N,伸展效率的范围为92.8%~34.0%;而平移速度、平移推力和平移效率则基本保持恒定,分别为50 mm/min、4.20 N和50%.胶囊机器人驱动单元的长度和外径分别为33 mm和16 mm.最后,在离体猪结肠内测试该腿式胶囊平移机构机器人的性能,结果表明它可实现有效、安全的伸缩与平移运动,其平均速度可达25 mm/min.
In view of the existing safety and effectiveness of active capsule robots, a legged capsule robot based on telescopic and translational mechanisms is proposed, in which the telescopic mechanism adopts a miniature connecting rod structure and the translational structure adopts a screw-nut structure. Space position, speed and output force, the two sets of driving mechanism are modeled and analyzed to optimize the size parameters and motor operating parameters.After optimization, the stretching speed ranged from 16.8 mm / s to 34.2 mm / s, the stretching force ranged from 2.45 N to 0.44 N, and the stretching efficiency ranged from 92.8% to 34.0%. The translational velocity, translational thrust and translational efficiency remained basically constant at 50 mm / min, 4.20 N and 50% The length and the outer diameter of the capsule robot drive unit were 33 mm and 16 mm, respectively.Finally, the performance of this legged capsule translational robot was tested in an isolated porcine colon, and the results showed that it could achieve effective and safe telescopic and translational movements , The average speed of up to 25 mm / min.