摘要
提出了一种由外旋转磁场驱动的体内微机器人.它以相邻径向异向磁化瓦状多磁极圆筒形NdFeB永磁体为外驱动器,以机器人内嵌同结构的NdFeB永磁体为内驱动器,外驱动器旋转时产生旋转磁场,通过磁机耦合作用于内嵌驱动器形成机器人驱动力矩,在本体外表面螺纹与流体动压力的作用下,实现机器人在管道内的在线旋进.在建立微机器人游动模型的基础上,以垂直管道为试验环境,研究了机器人的全方位驱动特性,试验结果表明机器人可以实现管道内全方位驱动.
A new micro robot inside human body driven by exterior rotating magnetic field is proposed. It takes a cylindrical NdFeB muhipole permanent magnet composed of several neighboring tegular magnets magnetized anisotropically along radial direction as exterior actuator, and a magnet with the same structure embedded inside the robot body as the inner actuator. The robot screws forward inside pipe under the action between spiral rib on the exterior surface of robot body and fluid dynamic pressure when robot rotates by magnetic torque, which is generated by magneto-mechanical coupling from rotating exterior actuator to inner one. Based on a newly developed swimming mathematical model, its characteristics of omni-directional drive is studied in the environment of erect pipe. Experimental results show that the robot can realize omni-directional drive.
出处
《机器人》
EI
CSCD
北大核心
2006年第6期560-564,570,共6页
Robot
基金
国家自然科学基金资助项目(60275034)
辽宁省自然科学基金资助项目(20021061
20032119)
关键词
体内微型机器人
旋转磁场
游动特性
全方位驱动
micro robot inside human body
rotating magnetic field
swimming characteristics
omni-directional drive
