SMA大肠内窥镜的导向机理与控制计算

Guide Principle and Control Calculation for SMA Endoscope System

介绍了采用形状记忆合金（ＳＭＡ）研制的大肠内窥镜的结构原理，分析了该机构的导向机理，通过推导，给出了ＳＭＡ各关节变位量ΔＬｎ（ｉ，ｊ，ｋ）与弯转方向α，弯转角度θ之间的定量关系式，即ΔＬ＝ｆ（α，θ），采用实验测试的方法得到了（Ｌ与ＳＭＡ元件内阻Ｒ之间的定量关系，即ΔＬ＝φ（Ｒ），为实现整体系统的闭环自动控制提供了依据，并用计算机动态图形仿真验证了计算的结果及整体方案可行性．

The paper introduces the structuring principle of the endoscope which involves the use of SMA and its guide mechanism. The quantitative equation of joint displacement Δ L n i,j,k =f(α,θ) and turning direction α , turning angle θ are presented,i.e. Δ L n i,j,k =f(α,θ) . The quantitative relationship between Δ L and SMA resistor R is obtained by measurement, i.e. Δ L=φ(R) . This provides abasis for realizing closed loop automatic controlling of the whole system. Computer Dynamic Graphic Simulation is also applied to verify the results of the calculation the and feasibility of the whole project.