双螺旋驱动的血管机器人绿色设计(英文)

Green design of double conical helixes driven robot

文章设计了一种双螺旋驱动的血管机器人,双螺旋结构有助于提高血管机器人运动灵活性,给出了效用函数初步评价血管机器人绿色性的模型.采用CFD方法分析血管机器人与血管壁间的稳态和瞬态流场,并进一步优化双螺旋驱动血管机器人的外形结构的6个参数,这些参数对血管机器人外部压力场影响明显,血管机器人直径D3参数对机器人外壁附近的速度场影响较明显.优化结果显示,当D1=2.2,D2=1.0,D3=2.4,L1=2,L2=5,Li=0.4-0.2时,血管机器人外流场对血管机器人运行影响较小.

A green double conical helixes driven robot is designed, these double helixes structure helps the blood vessel robot to improve movement flexibility, and the utility function approach is used to evaluate the green design of robot. CFD （ Computational Fluid Dynamics） is used to analyze the steady-state and transient flow field between blood vessel wall and the robot, and optimize the outside structure of double conical helix ro- bot. Six parameters are investigated; these parameters have greater influence on the pressure field more signifi- cantly, only D3 impacts the velocity field near shell of the robot. The optimized results are ： D1 = 2.2, D2 = 1. O, D3 = 2.4, L1 = 2, L2 = 5, Li = 0. 4 - 0. 2. A model with the optimized parameters is verifiedly analyzed, and the results show that the improved structure is better.