Study On Spiral-drive Mechanism Of Micro-robots

From now on micro-robots in pipes and alimentary canal robots are very popular. Japan and Europe have studied these early and gained lots of achievement, what's more, there are wide foreground. Recently scientists at home have been focus on these studies. A sort of spiral-drive have been put forward, the final goal of spiral-drive is to enter the pipes that filled with liquid and be suspended to move, and finally make it enter into intestines for the medical treatment, and at the same time concern with the fact that intestines is slimy and stretchy, and expands when pressure is applied to it.From the theory and experiment, the work environment has been analyzed, and the paper have studied the connection of structural parameter and the dynamic parameter, and have tested the numerical value of the dynamic parameter.The main parts of this dissertation are as followed:In first chapter, MEMS and robots for medical, micro-robots in pipes and alimentary canal robots are firstly discussed. A non-invasive medical micro-robot is introduced and the research meanings and contents of the whole issue are presented.In chapter 2, by analyzing and researching small intestinal mucus of dog, gastric juice, blood and artificial blood, the Casson's rheological model is obtained. The rheological model of the spiral-drive is built. In the light of general Reynolds equation, modified Reynolds equation for non-Newtonian liquid was derived.In chapter 3, On the basis of rectangular screw, the modified Reynolds equation for the spiral-drive is derived and solved numerically with the finite different method. The generated axial thrust force, minimal mucus film thickness, load capacity of hydrodynamic pressure and circumferential friction under the trapezoidal screw are obtained. At last, using numeral methods and coordinate graphs, the influences of s rectangular crew parameters on the generated axial thrust force, minimal mucus film thickness, load capacity of hydrodynamic pressure and circumferential friction are studied and analyzed.In chapter 4, experiment principle of the spiral-drive is introduced in detail, and the apparatus for experiment is designed. The biomechanical behavior of egg white is studied...