[1]邢立君,张永顺,孙立峰,等.双半球胶囊内窥镜流体环境姿态稳定性研究[J].机械与电子,2023,41(10):23-28.
　XING Lijun,ZHANG Yongshun,SUN Lifeng,et al.Study on the Stability of the Posture of Double-hemisphere Capsule Endoscope in the Fluid Environment[J].Machinery & Electronics,2023,41(10):23-28.
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双半球胶囊内窥镜流体环境姿态稳定性研究()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年10期
页码:
23-28
栏目:
自动控制与检测
出版日期:
2023-10-23

文章信息/Info

Title:
Study on the Stability of the Posture of Double-hemisphere Capsule Endoscope in the Fluid Environment
文章编号:
1001-2257 ( 2023 ) 10-0023-06
作者:
邢立君; 张永顺; 孙立峰; 董 海
大连理工大学高性能精密制造全国重点实验室,辽宁 大连 116024
Author(s):
XING Lijun ;  ZHANG Yongshun ;  SUN Lifeng ;  DONG Hai
( State Key Laboratory of High-Performance Precision Manufacturing , Dalian University of Technology , Dalian 116024 , China )
关键词:
胶囊内窥镜; 流体环境; 姿态稳定性; 滑滚运动
Keywords:
capsule endoscope ;  fluid environment ;  posture stability ;  sliding rolling motion
分类号:
TH113 ; TP242
文献标志码:
A
摘要:
为实现双半球胶囊内窥镜流体环境下精准定位控制,需对双半球胶囊滑滚运动姿态稳定性进行研究。建立了双半球胶囊流体环境滑滚运动动力学模型,对胶囊姿态稳定特性及影响因素进行了数值仿真分析,给出了胶囊姿态稳定控制参数选取方法。仿真和实验结果表明,双半球胶囊内窥镜在流体环境下可实现姿态稳定的滑滚运动,姿态调整时间短,移动速度低,有利于胶囊的精准定位控制。
Abstract:
In order to realize the precise positioning control of the DHCE in the fluid environment , it is necessary to study the stability of the sliding rolling motion posture of the DHCE.The dynamic model of sliding-rolling motion of DHCE in fluid environment is established , and the posture stability characteristics and influencing factors of capsule are numerically simulated and analyzed.The selection method of the capsule posture stability control parameters is given.The simulation and experimental results show that the DHCE can achieve stable sliding rolling motion in the fluid environment , with short posture adjustment time and low movement speed , which is conducive to the precise positioning control of the capsule.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2023-03-06
基金项目:国家自然科学基金资助项目( 61773084 , 62173059 )
作者简介:邢立君 ( 1998- ),男,辽宁朝阳人,硕士研究生,研究方向为双半球胶囊内窥镜机器人;张永顺 ( 1965- ),男,黑龙江哈尔滨人,博士,教授,博士研究生导师,研究方向为微型机器人技术及理论、机器人机电一体化技术,通信作者。
更新日期/Last Update: 2023-10-31