新型内窥镜机器人结构优化设计研究

研究了一种结构简单的新型内窥镜机器人驱动机构,并建立了内窥镜机器人在人体内腔中运动的数学模型.采用有限差分法分析了内窥镜机器人结构特性参数对机器人的最小粘液膜厚度和轴向摩擦牵引力的影响,从而获得当需要较厚的粘液膜厚度和较大的轴向摩擦驱动力时最优的机器人结构特性参数,为机器人更好地以较厚的粘液膜厚度和较快的速度悬浮式运行创造条件.内窥镜机器人的运行速度试验证明了此理论分析模型的正确性.

Study on structural optimization design of new typed endoscopic robot

A kind of simple structured new typed driving mechanism of endoscopic robot was studied, and the mathematical model for the movement of endoscopic robot inside human lumen was established. By adopting the finite difference method the influences of structural property parameters of endoscopic robot on the minimum membrane thickness of mucus and on the axial frictional traction force were analyzed. Consequently acquired the optimal structural property parameter of robot, while the comparatively thick membrane thickness of mucus and the biggish axial frictional traction force were needed, thus created conditions for the robot to operate in the suspension style all the better with a rather thick membrane thickness of mucus and a quite speedy speed. The operational velocity experiment of endoscopic robot testified the correctness of this theoretical analysis model.