驻留—伸缩式微型胃肠道机器人的力学建模

doi:10.3724/SP.J.1218.2012.00553

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引用本文:
林蔚, 颜国正 . 驻留—伸缩式微型胃肠道机器人的力学建模[J]. 机器人, 2012, 34(5): 553-558.DOI: 10.3724/SP.J.1218.2012.00553. LIN Wei, YAN Guozheng. Mechanical Modeling of an Anchoring-Extending Gastrointestinal Micro Robot. ROBOT, 2012, 34(5): 553-558. DOI: 10.3724/SP.J.1218.2012.00553.

摘要

介绍了能够描述胃肠道组织的应力—应变关系的超弹性本构模型．针对胃肠道特殊的生物力学环境，提出了一种基于驻留—伸缩的微型胃肠道机器人运动方式．通过研究微机器人单舱体与肠道组织相互的力学作用，建立了机器人单舱体运动时的速度与阻力关系；通过研究机器人整机与肠道的力学作用，建立了机器人的运动效率公式；结合以上力学分析，推导出基于超弹性本构模型的临界步距数学模型．该数学模型能够指导机器人设计与参数优化．最后，通过机器人模型实验获得了单舱体在肠道中的速度—拉力关系，并用机器人样机的离体实验验证了临界步距模型．

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	林蔚
	颜国正

关键词 ：胃肠道机器人, 超弹性本构模型, 临界步距, 离体实验

Abstract：

The hyperelastic stress-strain constitutive model of the gastrointestinal tissues is introduced. According to the special characteristics of the gastrointestinal biomechanism, a locomotion gait based on anchoring-extending is proposed for the gastrointestinal micro robot. The relationship between the speed of single cabin and the resistance force is established through studying the mechanical interaction between single cabin of the micro robot and the intestinal tissues, and the locomotion efficiency of the robot is established through studying the mechanical interaction between the entire robot and the intestine. A critical step model based on the hyperelastic constitutive model is deduced based on the above mechanical analyses. This model is a guide for robot design and parameter optimization. Finally, the relationship between the robot's single cabin speed and the tension force is obtained through robot model experiments, and the critical step model is verified in an in-vitro experiment with a robot prototype.

Key words： gastrointestinal robot hyperelastic constitutive model critical step in-vitro experiment

收稿日期: 2012-04-01 录用日期: 2012-06-15

TP242

基金资助:

国家自然科学基金资助项目（60875061，31170968，30800235）；国家863计划资助项目（2007AA04Z234，2008AA04Z201，2006AA04Z368）；载人航天领域预先研究项目（010203）；上海市科委项目（09DZ1907400）

通讯作者: 颜国正 E-mail: gzhyan@sjtu.edu.cn

作者简介: 林蔚（1983—），男，博士生．研究领域：微特机器人．
颜国正（1961—），男，教授，博士生导师．研究领域：精密工程，微特机器人，生物医学工程．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2012.00553 或 https://robot.sia.cn/CN/Y2012/V34/I5/553

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