微型腿式胶囊机器人的设计与分析

doi:10.13973/j.cnki.robot.2015.0246

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引用本文:
邵琪, 刘浩, 杨臻达, 王恒之, 李洪谊. 微型腿式胶囊机器人的设计与分析[J]. 机器人, 2015, 37(2): 246-253.DOI: 10.13973/j.cnki.robot.2015.0246. SHAO Qi, LIU Hao, YANG Zhenda, WANG Hengzhi, LI Hongyi. Design and Analysis of Micro Legged Capsule Robot. ROBOT, 2015, 37(2): 246-253. DOI: 10.13973/j.cnki.robot.2015.0246.

摘要

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16.8mm/s～34.2mm/s，伸展力的范围为2.45N～0.44N，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50mm/min、4.20N和50%．胶囊机器人驱动单元的长度和外径分别为33mm和16mm．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25mm/min．

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	邵琪
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	杨臻达
	王恒之
	李洪谊

关键词 ：胶囊机器人, 微型机器人, 胃肠道机器人, 周向伸缩, 微型连杆结构

Abstract：

Facing the safety and feasibility problems of the existing active capsule robots, a legged capsule robot is proposed based on telescopic and translational mechanisms. The telescopic mechanism adopts the micro link structure, while the translational mechanism adopts the screw-nut structure. With the constraints of spatial location, speed and driving force, these two mechanisms are modeled and analyzed to optimize the dimensional parameters and motor operating parameters. After the optimization, the range of the telescopic speed is 16.8 mm/s~34.2 mm/s, the range of the telescopic force is 2.45N~0.44 N, and the range of the telescopic efficiency is 92.8%~34.0%. Meanwhile, the translational speed, the force and the efficiency remain constant basically, which are 50 mm/min, 4.20 N and 50% respectively. The length and the outer diameter of the driving unit in the capsule robot are 33mm and 16mm respectively. Finally, the performance of the legged capsule robot is tested in the porcine colon, and the result shows that it can realize the telescopic and translational locomotion efficiently and safely with the mean speed of 25 mm/min.

Key words： capsule robot micro robot gastrointestinal robot circumferential expansion micro link structure

收稿日期: 2014-07-18 录用日期: 2015-01-22

TH12

基金资助:

国家自然科学基金资助项目（61105099）；机器人学国家重点实验室课题资助项目（2013-Z10）．

通讯作者: 刘浩，liuhao@sia.cn E-mail: liuhao@sia.cn

作者简介: 邵琪（1987-），男，博士生．研究领域：医疗机器人，生理信号检测．
刘浩（1980-），男，博士，副研究员．研究领域：医疗机器人，医疗传感，组织器械交互．
李洪谊（1972-），男，博士，研究员．研究领域：医疗机器人，人机融合，网络遥操作．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2015.0246 或 https://robot.sia.cn/CN/Y2015/V37/I2/246

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