基于MATLAB的胶囊内窥镜驱动机器人的运动学分析及仿真

Kinematics analysis and simulation of capsule-driven robot based on MATLAB

设计了一种新型的胶囊驱动机器人,用于控制胶囊在胃肠道内的运动和定位。首先,建立胶囊驱动机器人的三维数字化模型;其次,利用齐次变换矩阵来确定驱动机器人运动过程中的位姿,同时利用D-H坐标系法进行运动学正逆解的相关计算;最后,利用MATLAB软件完成运动学建模与仿真,进行驱动机器人的工作空间分析及运动学验证。结果表明,通过控制五自由度的驱动机器人,能在平面任何方向上引导胶囊穿过胃肠道。

A new type of capsule-driven robot is designed to control the movement and positioning of the capsule in the gastrointestinal tract.It establishes a 3D digital model of the capsule-driven robot,uses the homogeneous transformation matrix to determine the position and posture of the driving robot.Then it applies the D-H coordinate system method to perform the relevant calculation of the kinematics forward and inverse solutions,takes MATLAB to complete the kinematics modeling and simulation,work space analysis and kinematics verification of the driving robot.The results show that the control system of the five-degree-of-freedom driving robot can guide the capsule through the gastrointestinal tract in any direction on the plane.