磁控胶囊机器人运行平稳的参数优化设计

Parameter Optimization Design of Magnetically Controlled Capsule Robot for Stable Operation

磁控胶囊机器人主要应用于人体肠道的诊断和治疗。根据永磁体法,设计制造了一套磁控胶囊机器人旋进时管内流体流场测量系统,采用CFD方法数值计算和PIV技术实验测量机器人周围流体涡量,数值计算和实验测量结果的变化趋势和大小基本相同。更进一步采用均匀设计数值模拟优化方法,数值计算管道直径、机器人平移速度、机器人转速和流体动力粘度对胶囊机器人运行平稳度(即以机器人周围流体湍流强度为指标)的影响规律,建立了胶囊机器人周围流体湍流强度一次回归模型。结果表明:胶囊机器人系统各类参数对机器人周围流体湍流强度的影响程度不同,其中,流体动力粘度>机器人平移速度≈机器人转速>管道直径的影响;胶囊机器人运行最为平稳时的各类参数组合为:管道直径为16 mm,机器人平移速度为0.02 m/s,机器人转速为90 r/min,粘液动力粘度为0.005 Pa·s。

Magnetically controlled capsule robots are mainly used in the diagnosis and treatment of human intestines.According to the permanent magnet method,a set of fluid flow field measurement system is designed and manufactured when the capsule robot is precessing in the pipe.The CFD(Computational fluid dynamics)method and the PIV(particle image velocimetry)technology are used to measure the fluid vorticity around the robot.The change trend and size of the numerical calculation and the experimental measurement results are basically the same.Furthermore,the uniform design method is used to numerically calculate the influences of pipe diameter,robotic translational speed,robotic rotational speed,and fluid dynamic viscosity on the stable operation of the capsule robot(that is,the fluid turbulent intensity around the robot is taken as an important index).The first-order regression model of fluid turbulent intensity around the capsule robot is established.The results show that the various parameters of the capsule robot system have different effects on the fluid turbulent intensity around the robot.Among them,the rank of influence is:fluid dynamic viscosity>robotic translational speed≈robotic rotational speed>pipe diameter.Under the best stable operation of the robot,the combination of various parameters is:the pipe diameter is 16 mm,the robotic translational speed is 0.02 m/s,the robotic rotational speed is 90 r/min,and the fluid dynamic viscosity is 0.005 Pa·s.