| 陈曦， 俞经虎， 钱善华， 曹澍， 胡雨农.基于ADAMS的食道诊疗胶囊驱动机器人的动力学研究[J].轻工机械,2019,37(4):30-34 |
| 基于ADAMS的食道诊疗胶囊驱动机器人的动力学研究 |
| Dynamic Study of Capsule Driven Robot for Esophagus Diagnosis and Treatment Based on ADAMS |
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| DOI：10.3969/j.issn.1005 2895.2019.04.006 |
| 中文关键词: 胶囊机器人 动力学模型 ADAMS仿真 拉格朗日法 运动特征曲线 |
| 英文关键词:capsule robot dynamic model ADMS simulation Lagrange method motion characteristic curves |
| 基金项目:国家自然科学基金项目(51375209)；国家自然科学基金项目(51775244) |
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| 中文摘要: |
| 为实现消化道类疾病检查中胶囊机器人的转动、前进等复合运动的驱动，课题组提出一种驱动食道诊疗胶囊的设计方案，用于控制食道诊疗胶囊在食道内的运动和定位。首先，利用UG软件建立驱动机器人三维数字化模型；其次，利用拉格朗日法建立驱动机器人的动力学模型；将三维模型导入ADAMS软件，根据设计要求添加运动约束；最后，通过ADAMS软件完成动力学建模与仿真分析，获得驱动机器人各关节的运动特征曲线,利用ADAMS仿真分析，验证了所设计的驱动机器人具有较好的动力学特性。建立的动力学方程为后续食道诊疗胶囊的驱动控制和多物理场仿真提供了参考依据。 |
| 英文摘要: |
| Aiming at the detection of patients with digestive tract diseases, a design scheme for driving capsule robots was proposed to control the movement and positioning of capsule robots in the gastrointestinal tract. Firstly, 3D digital model of the driving robot was constructed via UG software. Secondly, the dynamic model of the driving robot was established by the Lagrange method. The 3D model was imported into the ADAMS software and motion constraints were added according to the design requirements. Finally, the dynamic modeling and simulation analysis were completed by ADAMS to obtain the motion characteristic curves of the joints of the driving robot. In this paper, the ADAMS simulation analysis was used to verify that the designed driving robot had better dynamic characteristics. The established dynamic equation provided a theoretical basis for subsequent drive control and multi phsical field simulation of capsule robots. |
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