Design and Testing of a Motor-Based Capsule Robot Powered by Wireless Power Transmission
Design and Testing of a Motor-Based Capsule Robot Powered by Wireless Power Transmission
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DOI：
10.1109/tmech.2015.2497083
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发表时间：
2016-04-01
影响因子：
6.4
通讯作者：
Liu, Dasheng
中科院分区：
文献类型：
--
作者：
Gao, Jinyang;Yan, Guozheng;Liu, Dasheng
本文提出了一种基于电机的胶囊机器人由无线电力传输，一个小尺寸的设备Phi 13 mm x 42 mm的肠道探索。胶囊机器人的主动运动是由一个尺蠖机构实现的，该机构由两端的扩展装置和一个中间的伸肌组成。扩径装置采用四连杆机构，扩径范围为13 ~ 29.9 mm，并采用两个O形圈密封。基于赫兹接触理论，两个O形圈的设计参数（即，钢丝直径、硬度和压缩比）进行了优化，优化后的O形圈扭矩损失最大为17.6%。为了充分利用尺蠖机构的空间，提出了一种新型的空心圆柱形三维接收线圈，该线圈采用复合铁氧体磁芯，内径为6 mm，外径为12.9 mm，长度为11.5 mm。通过选择适当的匝数为3-D线圈，接收线圈的输出功率波动被最小化在485.7至1459.2 mW的范围内。最后，在一个离体肠道使用制造的原型与检查功能的胶囊机器人的系统性能进行了成功的测试。
This paper presents a motor-based capsule robot powered by wireless power transmission, a device with a small size of Phi 13 mm x 42 mm for exploring the intestinal tract. The active locomotion of the capsule robot is achieved with an inchworm mechanism, which consists of two expanding devices at both ends and a middle extensor. The expanding device features a large expanding diameter range of 13 to 29.9 mm by adopting a four-bar linkage and it is sealed by two O-rings. Based on the Hertz contact theory, the design parameters of the two O-rings (i.e., wire diameter, hardness, and compression ratio) were optimized, and the optimized O-rings caused 17.6% torque loss at most. To take full advantage of the space in the inchworm mechanism, a novel hollow-cylinder-like 3-D receiving coil was proposed, which employed a combined ferrite core and measured 6 mm in inner diameter, 12.9 mm in outer diameter, and 11.5 mm in length. By selecting appropriate numbers of turns for the 3-D coils, the output power fluctuation of the receiving coil was minimized within a range of 485.7 to 1459.2 mW. Finally, the system performance of the capsule robot was successfully tested in an ex vivo intestine using a fabricated prototype with inspection function.