Design and Experiment of Expanding Mechanism and
 Power Receiving Coil for Micro Intestinal Robot

doi:10.16183/j.cnki.jsjtu.2019.10.001

Abstract

Abstract: A new type expanding mechanism for micro intestinal robot is designed to move and anchor in the intestinal tract. The mechanism is expanded by Archimedes spiral legs whose maximum expanding diameter reaches to 32mm, and the variable diameter ratio is 2.13. The reduction ratio of the reducer is up to 489 to ensure large output torque. The dynamic characteristics of the expanding arm are analyzed, and the expanding force is tested through experiments. Then, the power receiving coil is modeled and analyzed. The results show that the overall trends of the experimental test value of the expanding force and the theoretical analysis are basically the same, and the minimum expanding force is 1.5N, which satisfies the demand of intestinal expansion. The performance of the wireless power transmission can be improved by optimizing the thickness of the coil core, the winding layer and the specification of the strand wire. When the driving current of the transmitting coil is 1.4A, the corresponding transmission power of the receiving coil is 812mW and the energy transfer efficiency is 8.3%, which can satisfy the power requirements of the intestinal robot.

Key words: intestinal robot; Archimedes spiral legs; expanding mechanism; power receiving coil

CLC Number:

PU Pengxian,YAN Guozheng,WANG Zhiwu,HAN Ding. Design and Experiment of Expanding Mechanism and Power Receiving Coil for Micro Intestinal Robot[J]. Journal of Shanghai Jiaotong University, 2019, 53(10): 1143-1150.

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Design and Experiment of Expanding Mechanism and Power Receiving Coil for Micro Intestinal Robot

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