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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Design and Testing of a Motor-Based Capsule Robot Powered by Wireless Power Transmission
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Design and Testing of a Motor-Based Capsule Robot Powered by Wireless Power Transmission

机译：无线电力驱动的基于胶囊的机器人的设计与测试

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摘要

This paper presents a motor-based capsule robot powered by wireless power transmission, a device with a small size of 13 mm 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 intestine using a fabricated prototype with inspection function.
机译：本文介绍了一种由无线电力传输驱动的基于马达的胶囊机器人，这是一种尺寸为13mm至42mm的小装置，用于探索肠道。胶囊机器人的主动运动是通过一种蠕虫机制实现的，该机制由两端的两个扩展装置和一个中间伸肌组成。扩展装置采用四连杆机构，扩展直径范围在13至29.9毫米之间，并由两个O形圈密封。根据赫兹接触理论，对两个O形圈的设计参数（即线径，硬度和压缩比）进行了优化，优化后的O形圈最多造成17.6％的扭矩损失。为了充分利用蠕虫机制中的空间，提出了一种新型空心圆柱状3-D接收线圈，该线圈采用了组合的铁氧体磁芯，内径为6毫米，外径为12.9毫米，而外径为11.5毫米在长度上。通过为3-D线圈选择合适的匝数，可以在485.7至1459.2 mW的范围内将接收线圈的输出功率波动最小化。最后，使用具有检查功能的预制原型在胶囊中成功地测试了胶囊机器人的系统性能。

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