北京生物医学工程2012，Vol.31Issue(3)：225-230,6.DOI:10.3969/j.issn.1002-3208.2012.03.02
直流电机驱动仿尺護式微型胃肠道机器人的设计
Design of an inchworm locomotive miniature gastrointestinal robot driven by DC motor
摘要
Abstract
Objective To design an active locomotive robot to examine the gastrointestinal tract ( especially the small intestine ) as current gastrointestinal inspection methods are in passive locomotion mode. Methods The robot is composed of three individual sections, driven by DC motors, and moves in the inchworm locomotive mode. The middle unit is an axial extensor, and the two terminal units are radial clampers. The robot can move forward and backward even clamp in the gat by the gait control. The size of assembled robot in shrink mode is 4>13mm x 80mm. The axial step and radial step are 14mm and 4mm respectively. Results This paper analyzes the velocity and mechanical transmission efficiency of the robot, and figures out that the theoretical velocity is 0. 8mm/s,the maximal axial and radial thrusts are 5 N and 9. 6 N respectively. The robot is put in the intestinal tract for the experiment in vitro after the assembly of the robot. Conclusions The experiment proves that the inchworm locomotive robot driven by DC motor can move actively in the gastrointestinal tract.关键词
胃肠道机器人/尺護运动/螺旋传动Key words
gastrointestinal robot/ inchworm locomotion/ helical gearing分类
医药卫生引用本文复制引用
史玉婷,姜萍萍,颜国正,林蔚..直流电机驱动仿尺護式微型胃肠道机器人的设计[J].北京生物医学工程,2012,31(3):225-230,6.基金项目
国家自然基金项目(30800235,31170968)、国家863计划(2007AA04Z234)、载人航天领域预先研究项目(010203)资助 （30800235,31170968）
