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研究表面螺旋胶囊机器人在外部旋转磁场作用下在黏液中的运动特性.首先介绍外磁推进的胶囊机器人的系统构成,给出表面螺旋胶囊在黏液中旋进的磁主动矩的表达式,然后制作了镶有条形强磁片的胶囊机器人样品,搭建了旋转磁场试验台,配置了不同动力黏度的二甲基硅油以模拟人体体液.试验模拟旋转磁场对胶囊机器人在不同黏性液体中的旋转,证明了设计的合理性和可行性.当外部磁场强度在6.281 A/m左右时,胶囊机器人受到的驱动力矩为1.0 mN.m左右.在胶囊机器人的设计中,决定需要的外部磁场强度以及所受到的阻力矩大小的因素依次为胶囊直径、设计的工作转速和黏液的黏度.
This paper studies the movement characteristics of surface helical capsule robot in mucus under the external rotating magnetic field.First, the system structure of the capsule robot with external magnetic propulsion is introduced, and the expression of the magnetic moment of precession of surface helical capsule in mucus is given, A sample of capsule robot with strip-shaped ferromagnetic film was set up, and a rotating magnetic field test bed was set up with different viscosity of simethicone to simulate human body fluid.The experiment simulates the rotation of capsule robot in different viscous liquids , Which proves the rationality and feasibility of the design.When the external magnetic field intensity is around 6.281 A / m, the driving torque of the capsule robot is about 1.0 mN.m. In the design of the capsule robot, the required external magnetic field strength and The resistance torque received by the size of the factors followed by the capsule diameter, design work speed and mucus viscosity.