胶囊内窥镜机器人微驱动仿真研究

Simulation Research On Micro Actuator of Capsule Endoscopy Robot

提出了一种采用形状记忆合金螺旋弹簧作为驱动源的新型胶囊内窥镜机器人。介绍了微驱动机构及机器人运动原理。在形状记忆合金(SMA)微驱动器热学模型、相变模型理论的基础上,进行了仿真实验。仿真结果与实际加热过程和冷却过程基本吻合,为设计胶囊内窥镜机器人驱动器控制系统提供了依据。

This paper presents a novel capsule endoscopy inicro robot,which is drived by the shape memory, alloy helical spring actuator. The mechanism of micro actuator and the locomotion principle of thr robot are introduced. The simulation experiment of the actuator is made based on the thermal model and phase transformation model. The results of simulation are tally with the practical heating and cooling process. It presents gist of design on the control system of actuators which are used for the capsule endoscopy robot.