蒲鹏先，颜国正，王志武，韩玎，柯全，汪炜，李达伟

上海交通大学 电子信息与电气工程学院, 上海 200240

出版日期:2019-10-28发布日期:2019-11-01
通讯作者:颜国正，男，教授，博士生导师，电话（Tel.）：021-34204434; E-mail: gzhyan@sjtu.edu.cn.
作者简介:蒲鹏先（1994-），男，贵州省遵义市人，硕士生，主要研究方向为胃肠道机器人无线能量传输.
基金资助:国家自然科学基金（61673271, 81601631），中国博士后基金（2016M601587）资助项目

Design and Experiment of Expanding Mechanism and Power Receiving Coil for Micro Intestinal Robot

PU Pengxian,YAN Guozheng,WANG Zhiwu,HAN Ding

School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

Online:2019-10-28Published:2019-11-01

摘要/Abstract

摘要： 研究并设计了一种新型扩张方式的能在肠道中运动和驻留的微型肠道机器人.该肠道机器人的扩张机构采用阿基米德螺线腿的方式进行扩张，扩张直径可达32mm，变径比达到 2.13.设计减速比为489的减速器，保证较大的输出转矩.对扩张机构的扩张臂进行力学分析，并通过实验测试了扩张机构的扩张力.进而，对能量接收线圈进行建模分析.结果表明：扩张机构扩张力的实验测试值与理论分析的整体趋势基本一致，最小扩张力为 1.5N，满足肠道扩张力的需求；优化线圈磁芯厚度、绕组层数以及绞线规格可以提高无线供能系统性能；当发射线圈驱动电流为 1.4A时，该接收线圈相应的传输功率为812mW，能量传输效率为 8.3%，能满足肠道机器人的功率要求.
关键词: 肠道机器人； 阿基米德螺线腿； 扩张机构； 能量接收线圈
Abstract: A new type expanding mechanism for micro intestinal robot is designed to move and anchor in the intestinal tract. The mechanism is expanded by Archimedes spiral legs whose maximum expanding diameter reaches to 32mm, and the variable diameter ratio is 2.13. The reduction ratio of the reducer is up to 489 to ensure large output torque. The dynamic characteristics of the expanding arm are analyzed, and the expanding force is tested through experiments. Then, the power receiving coil is modeled and analyzed. The results show that the overall trends of the experimental test value of the expanding force and the theoretical analysis are basically the same, and the minimum expanding force is 1.5N, which satisfies the demand of intestinal expansion. The performance of the wireless power transmission can be improved by optimizing the thickness of the coil core, the winding layer and the specification of the strand wire. When the driving current of the transmitting coil is 1.4A, the corresponding transmission power of the receiving coil is 812mW and the energy transfer efficiency is 8.3%, which can satisfy the power requirements of the intestinal robot.
Key words: intestinal robot; Archimedes spiral legs; expanding mechanism; power receiving coil


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