Please wait a minute...
工程设计学报
工程设计学报  2007, Vol. 14 Issue (2): 89-96    
工程设计理论、方法与技术     
胶囊机器人在黏液中旋进运动的研究
张 炜,陈英俊,黄 平
华南理工大学　机械工程学院, 广东 广州 510640
Experimental study on a capsule-like robot driven by an outer rotating magnetic field
ZHANG   Wei,CHEN  Ying-Jun,HUANG   Ping
School of Mechanical Engineering, South China University of Technology,Guangzhou 510640, China
 全文: PDF(372 KB)   HTML
摘要： 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。
关键词： 旋转磁场;  胶囊机器人;  黏液    
Abstract: The kinetic characteristics of a capsule-like robot (CLR) with a spiral surface driven by a rotating magnetic field are studied. Firstly, the operation principles and design of the whole system are introduced and the formulas to calculate the torque acting on the CLR by a rotating outer magnetic field are given. Then, a tester is developed and three CLR samples embedding a pair of magnetic bars are made. The samples have different sizes. Several types of viscous silicon oil simulating a body fluid are compounded in experiments. Finally, some experiments are carried out to prove the correctness and feasibility of the design. Some conclusions can be drawn from the experimental results. When the intensity of outer magnetic field is about 6.281 A/m, active torque on CLR samples is about 1.0 mN·m. From analysis, three factors are found to determine the resistance torque acting on the CLR. They, ordered according to their importance, are  namely diameter of a CLR, rotational speed and fluid viscosity.
Key words: rotating magnetic field    capsule-like robot     viscous fluid
出版日期: 2007-04-28
基金资助:

The research is financially supported by Municipal Key Scientific and Technological Project of Guangzhou (2005Z3-E0341)
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　
张 炜
陈英俊
黄 平

引用本文:

张 炜,陈英俊,黄 平. 胶囊机器人在黏液中旋进运动的研究[J]. 工程设计学报, 2007, 14(2): 89-96.

ZHANG Wei,CHEN Ying-Jun,HUANG Ping. Experimental study on a capsule-like robot driven by an outer rotating magnetic field[J]. Chinese Journal of Engineering Design, 2007, 14(2): 89-96.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/    或    https://www.zjujournals.com/gcsjxb/CN/Y2007/V14/I2/89

[1] 张 炜, 黄 平, 孟永钢. 阵列永磁体产生旋转磁场的机理及实验[J]. 工程设计学报, 2008, 15(3): 191-197.