肠道胶囊机器人的转向随动力学模型

Following-up Steering Dynamic Model of an Intestinal Capsule Robot

为了实现旋进式胶囊机器人在充满黏性液体弯管内的无碰撞转弯行走,提出一种离散逼近的空间万向旋转磁场控制策略,采用与机器人相连的赖柴坐标系确定机器人的姿态,建立旋转磁场与机器人内驱动器耦合所产生的空间磁力矩模型和弯管液体环境对机器人转弯运动响应的流体力矩模型,对转弯过程中磁力矩和流体力矩的动态响应特性进行理论研究。结果表明在转弯过程中外旋转磁场使机器人发生随动效应,流体力矩使磁力矩诱导的摆动响应迅速衰减现象有利于机器人在弯曲环境内的非接触式驱动。

A control strategy of discrete approximation is proposed to realize non-contact steering swimming of capsule robot in curved pipe filled with viscous liquid.Based on Résal coordinate system attached to the robot for determining the posture of robot,the model of spatial magnetic moment generated by the coupling between external spatial rotating magnetic field and inner actuator embedded in robot and the fluid moment model relevant to liquid inside curved pipe in response to steering motion of robot are derived.The dynamic response characteristics of magnetic driving moment and fluid moment during steering in curved pipe are analyzed and simulated.Results show that the follow-up effect occurs while robot veering by external rotational magnetic field,and the fact that fluid moment can rapidly damp robot＇s vibration caused by magnetic driving moment is beneficial to non-contact drive of robot inside curved pipe.