肠道微型仿尺蠖式机器人机载供能线圈优化

doi:10.16183/j.cnki.jsjtu.2020.02.006

上海交通大学学报 ›› 2020, Vol. 54 ›› Issue (2): 152-159.doi: 10.16183/j.cnki.jsjtu.2020.02.006

肠道微型仿尺蠖式机器人机载供能线圈优化

高晋阳1，3，颜国正2，石云波1，刘俊1

1. 中北大学电子测试技术国家级重点实验室，太原 030051； 2. 上海交通大学仪器科学与工程系，上海 200240； 3. 中北大学先进制造技术山西省重点实验室，太原 030051

出版日期:2020-02-28 发布日期:2020-03-06
通讯作者: 高晋阳（1990-），男，山西省晋中市人，副教授，主要研究方向为医用微型机器人. 电话（Tel.）：15234033936；E-mail：gjy.1001@163.com.
基金资助:
国家自然科学基金(61803347，61673271，81601631），上海市科委项目（15441903100），山西省应用基础研究计划青年科技研究基金（201801D221201），先进制造技术山西省重点实验室开放基金(XJZZ201803)，中北大学青年学术带头人支持计划项目（QX201808），电子测试技术重点实验室稳定支持经费项目（WD6142001040 11804）

Optimization of a Powering Coil Onboard a Dime-Size Inchworm-Like Robot for Exploring the Intestine

GAO Jinyang 1,3，YAN Guozheng 2，SHI Yunbo 1，LIU Jun 1

1. National Key Laboratory of Electronic Testing Technology, North University of China, Taiyuan 030051, China; 2. Department of Instrument Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, China; 3. Shanxi Key Laboratory of Advanced Manufacturing Technology, North University of China, Taiyuan 030051, China

Online:2020-02-28 Published:2020-03-06

摘要/Abstract

摘要： 采用无线电能传输技术供能的微型仿尺蠖式机器人在肠道疾病微创诊疗方面具有重要的应用价值，其机载供能线圈由圆环形磁芯和缠绕于磁芯上的圆环形绕组构成.本文提出一种机载供能线圈快速设计优化方法.首先，通过对绕组中各匝绕线进行几何建模，测定磁芯磁导率分布，分析金属零件涡流效应对供能线圈参数影响，建立了供能线圈的集成环境模型.然后，结合电磁理论，计算了供能线圈在集成环境中的互感和等效串联电阻.最后，以最大化供能线圈输出功率为目标，在温升安全性要求和机器人内部空间约束下，对绕组的轴向位置、层数、匝数和线径进行优化，获得了各设计参数选取的一般性结论.采用优化设计参数的绕组尺寸仅为(12.0～12.4)mm×9.9mm，当其位于磁芯轴向中心位置时，输出功率高达 1478.3mW.

关键词: 无线电能传输, 仿尺蠖机器人, 机载供能线圈, 集成环境, 快速设计优化

Abstract: A dime-size inchworm-like robot, which adopts wireless power transmission for power supply, has a great potential for a minimally invasive intestinal exploration. The powering coil onboard the robot is usually composed of a ring-shaped ferrite core and a ring-shaped winding. This paper presents a fast design method for power coil. Firstly, the integrated environment model of the powering coil is established by modeling the geometry of the ring-shaped winding, measuring the permeability distribution of the ferrite core, and analyzing the influence of eddy-current effect of the metal parts on the powering coil. Then, by referring to electromagnetic theory, the equivalent series resistance and mutual inductance of the powering coil are calculated. Finally, axial location, number of layers, number of turns, and wire diameter of the winding are optimized, with an aim of maximizing the output power of the powering coil and with a consideration of temperature rise safety and limited space. And some guiding rules for selecting the design parameters are obtained. The optimized winding, having a compact size of (12.0—12.4)mm×9.9mm, can output an electric power of 1478.3mW.

Key words: wireless power transmission, inchworm-like robot, onboard powering coil, integration environment, rapid design and optimization

中图分类号:

TP 242.3

高晋阳, 颜国正, 石云波, 刘俊. 肠道微型仿尺蠖式机器人机载供能线圈优化[J]. 上海交通大学学报, 2020, 54(2): 152-159.

GAO Jinyang, YAN Guozheng, SHI Yunbo, LIU Jun. Optimization of a Powering Coil Onboard a Dime-Size Inchworm-Like Robot for Exploring the Intestine[J]. Journal of Shanghai Jiaotong University, 2020, 54(2): 152-159.

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肠道微型仿尺蠖式机器人机载供能线圈优化

Optimization of a Powering Coil Onboard a Dime-Size Inchworm-Like Robot for Exploring the Intestine

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