【摘要】 针对人体内腔黏液为非牛顿流体的特点,建立螺旋式内窥镜机器人在人体内腔中运行时的数学模型.给出适合于该机器人系统的非牛顿流体修正雷诺方程的求解方法和计算程序框图.采用有限差分法分析螺纹的几何特性参数对机器人轴向摩擦牵引力、周向摩擦阻力,以及黏液膜承载能力的影响,进而获得了一组相对最优的无量纲几何特性参数值.机器人运行速度实验证明了此理论分析模型的正确性.更多还原

【Abstract】 A mathematical model for the spiral-type endoscopic robot working inside the lumen of human body full of non-Newton fluid was established. The modified Reynolds equation corresponding to the endoscopic robot system and the flow chart of its algorithm routine were proposed. The relationship between the structural parameters and the kinetic properties such as the thrust force, the circumferential resisting force and supporting capacity of the robot were analyzed theoretically. Then the optimum design of the spiral-type robot was obtained. The locomotion experiment of the micro robot validated the correctness of the proposed model.更多还原