论文部分内容阅读
目前,胶囊机器人从静止状态到相对运动发生的这一过程中所需要克服的阻力尚无有效数据.本文针对这一问题进行交互分析,量化影响临界滑动阻力的因素.首先基于Ciarletta的超弹模型,分析“内力-摩擦”式和磁驱式胶囊机器人实现运动所需的临界滑动阻力.首先分别建立了包括胶囊机器人头部压力、中段摩擦力和头部摩擦力的阻力模型,并根据力的平衡关系获得临界滑动阻力的表达式.其次,构建了实验台并利用家猪的离体小肠开展了实验.随后对影响临界阻力的参数进行了分析,包括胶囊机器人外径与肠管的内径比(R/r)、肠管摩擦系数和胶囊机器人的中段长度.临界滑动阻力的理论计算结果与实验结果达到较好的吻合.R/r和肠道摩擦系数的增大都会导致临界滑动阻力增大.胶囊头部所受摩擦力在阻力中所占比例小于1%.胶囊机器人受到的阻力与其中段长度呈线性关系.提出的模型能够准确地预测临界滑动阻力,可体现各因素的影响,其中最为主要的影响是R/r.
At present, there is no valid data to overcome the resistance of the robot in the process of static state to relative motion.In this paper, interactive analysis of this problem is carried out to quantify the factors that affect the critical sliding resistance.Firstly, based on the Ciarletta hyperelastic model , And analyzed the critical sliding resistance needed by the “internal force-friction” and magnetic drive capsule robots.Firstly, the resistance models including the head pressure, mid-section friction and head friction of the capsule robot were established, Force balance relationship to obtain the expression of critical sliding resistance.Secondly, the experimental platform was constructed and the experiment was carried out by using the domestic small intestine of pigs.And then the parameters affecting the critical resistance were analyzed, including the outer diameter of the capsule robot and the inner diameter of the intestine (R / r), the intestinal tube friction coefficient and the middle length of the capsule robot.The theoretical calculation results of the critical sliding resistance and the experimental results are in good agreement.R / r and intestinal friction coefficient increase will lead to the increase of the critical sliding resistance Large capsule friction suffered by the head in the proportion of less than 1%. Capsule robot resistance and the middle of the length of a linear relationship The model presented can accurately predict the critical slip resistance, may be embodied in various influence factors, the most major influence is R / r.