| 新型肠道机器人动力学建模和参数优化研究 |
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| 引用本文： | 胡冠昱,梁亮,石成刚. 新型肠道机器人动力学建模和参数优化研究[J]. 润滑与密封, 2007, 32(9): 107-111 |
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| 作者姓名： | 胡冠昱 梁亮 石成刚 |
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| 作者单位： | 1. 长沙大学机电工程系,湖南长沙,410003
2. 长沙大学电子与通信工程系,湖南长沙,410003 |
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| 摘 要： | 针对人体肠道粘液为非牛顿流体的特点,推导了非牛顿流体的变形雷诺方程,建立了肠道机器人在人体肠道中运动的数学模型。采用有限差分法分析了肠道机器人螺旋槽参数对机器人动压粘液膜承载量、轴向摩擦牵引力和周向摩擦阻力的影响,从而获得了一组相对最优的机器人螺旋槽参数,使得肠道机器人可获得较大的动压粘液膜承载量和轴向摩擦牵引力,同时减小了其周向摩擦阻力。
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| 关 键 词： | 肠道机器人 非牛顿流体 动压粘液膜承载量 轴向摩擦牵引力 |
| 文章编号： | 0254-0150（2007）9-107-5 |
| 修稿时间： | 2007-03-09 |
Kinetic Modeling and Parameters Optimization on a New Kind of Intestine Micro-robot |
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| Hu Guanyu,Liang Liang,Shi Chenggang. Kinetic Modeling and Parameters Optimization on a New Kind of Intestine Micro-robot[J]. Lubrication Engineering, 2007, 32(9): 107-111 |
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| Authors: | Hu Guanyu Liang Liang Shi Chenggang |
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| Abstract: | A modified Reynolds equation was derived from the property of human body lumen that is non-Newton fluid.A motion model was built for the spiral-grooved intestine micro-robot working inside the lumen of human body.Based on the finite difference method,the relationship between the spiral-grooved parameters and kinetic properties such as the load capacity of hydrodynamic pressure,the axial thrust force and the circumferential resisting force was analyzed theoretically.Consequently,the optimal parameters of the spiral grooved intestine micro-robot were obtained,which can increase the load capacity of hydrodynamic pressure and axial thrust force of intestine micro-robot,and decrease the circumferential resisting force. |
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| Keywords: | intestine micro-robot non-Newton fluid load capacity of hydrodynamic pressure axial thrust force |
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