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:提出了一种新型的可进入人体内腔和血管的微型机器人驱动机构。此种微型机器人能够在充满液体的弯曲的人体肠道内运行。当机器人在充满液体的微型管道内运行时 ,在其周围会自动形成一层液体动压润滑膜 ,此润滑膜能避免机器人与管道壁发生直接接触。结合人体肠道的蠕动方程和N- S方程利用有限元分析计算了此种微型机器人在蠕动肠道中的驱动力和运行速度 ,进行了机器人的运行实验 ,结果表明 ,机器人能以较快速度在肠道内悬浮运行。
: A new micro-robot driving mechanism that can enter the body cavity and blood vessels is proposed. Such micro-robots are capable of operating in the curved intestine of a fluid-filled human body. When a robot runs inside a liquid-filled microchannel, a layer of hydrodynamic lubrication film is automatically formed around it, preventing the robot from making direct contact with the duct wall. Combined with the human intestinal peristalsis equation and the N-S equation, the driving force and speed of this kind of micro-robot in the peristaltic intestinal tract were calculated by finite element analysis. The running experiments of the robot were carried out. The results show that the robot can move fast Gut suspended operation.