蠕动机器人的自推进内窥镜系统

MHS2003. Proceedings of 2003 International Symposium on Micromechatronics and Human Science (IEEE Cat. No.03TH8717) Pub Date : 2003-12-08 DOI:10.1109/MHS.2003.1249926

G. Yan, Jianyong Zuo

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引用次数: 7

摘要

越来越多的微型机器人被用于以人为本的目的，其中之一就是用于医学检查。本文设计了一种基于蚯蚓的新型微型肠道检测机器人，其直径为/spl φ / 8.8 mm，长度为72 mm。该微型机器人采用步进电机驱动，具有较好的性能和简单的设计。介绍了该机器人的结构和运动机理。建立了它的力学模型，详细讨论了控制系统和软件设计。对微机器人在下降的橡胶管和玻璃管中爬行的驱动特性进行了实验研究。实验结果表明，该机器人可以在水平和一定的下降管道中可靠地移动。该研究为微型机器人内窥镜的应用奠定了基础。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A self-propelling endoscope system by squirmy robot

More and more miniature robots are used for human-oriented purposes, one of which is for medical inspection. A new model miniature robot for intestinal inspection based on earthworm is designed in this paper, and its diameter and length are /spl phi/ 8.8 mm and 72 mm respectively. The micro robot is driven by stepper motor, which has better performance and simple design. The structure and locomotion mechanism of this robot are introduced. The mechanical model of it is build, and the control system and software design are discussed in detail. Some actuating characteristics experiments have been done when the micro robot creeps in the declining rubber and glass tubes. The experiment results show that this kind of robot can move reliably in horizontal and a certain declining tubes. This research has laid foundation for the application of the miniature robot endoscope.

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来源期刊

MHS2003. Proceedings of 2003 International Symposium on Micromechatronics and Human Science (IEEE Cat. No.03TH8717)

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