林蔚, 颜国正, 王志武, 姜萍萍, 刘华. 基于微型电机的肠道机器人机构设计[J]. 机器人, 2011, 33(3): 319-323..
LIN Wei, YAN Guozheng, WANG Zhiwu, JIANG Pingping, LIU Hua. Mechanism Design of an Intestinal Robot Based on Micro-motor. ROBOT, 2011, 33(3): 319-323..
A micro-motor-based micro-robot,which can move in intestinal tract,is designed.Based on the analysis on the gait,the locomotion of this robot including wriggle in the axial direction,and expand-contract in the radial direction,and the corresponding mechanism is designed and realized.An experiment is made to prove the feasibility of the axial design. The assembled robot isφ13 mm×50 mm in size,with the function of 10 mm axial stepping and 8 mm radial expanding and contraction.
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