摘要
为了实现对人体胃肠道的无创诊疗,设计了一种尺蠖式内窥镜胶囊机器人。机器人采用直流电机作为动力源,通过双轴复用减速器和丝杆螺母机构把旋转运动转化为两个串行的直线运动,分别驱动机器人的径向和轴向伸缩,并按照一定的时序配合实现尺蠖运动。此外,还讨论了机器人的结构、运动原理以及运动的可行性。为了检验机器人运动的可行性,做了一系列测试驱动器驱动能力的实验。实验结果表明,驱动器可以提供平稳可靠的轴向和径向力,满足机器人在胃肠道运动的需求。
For the purpose of a noninvasive diagnostic method on intestine,an endoscope micro-robot for the active locomotion in the gastrointestinal(GI) track is described.The micro-robot utilizes a DC motor,through multi-stage gear transmission,and the screw-nut to achieve straight-line drive and output inchworm robot movement with sequence in time.Also,the structure,motion mechanism,and movement feasibility of the micro-robot are discussed.In order to investigate the motion feasibility of the device,a set of experiments are carried out.Experiment results demonstrate that the device can provide a smooth and reliable force which can meet the needs of movement in GI.
出处
《测控技术》
CSCD
北大核心
2010年第4期90-93,96,共5页
Measurement & Control Technology
基金
国家自然科学基金资助项目(30570485)
国家863计划资助项目(2006AA04Z368
2007AA04Z234)