High-order Power Function Profile Optimization Of Multi-wedge Effects Capsule Robot

The rapid development of MEMS, testing and sensing technology promotes the development and application of medical robots. Micro capsule robot can enter the human gastrointestinal tract to detect, apply pharmaceutical drugs and carry out minimally invasive surgery, which can greatly improve the accuracy, safety and operational efficiency of diagnosis and treatment of the gastrointestinal tract, reduce patient pain and shorten the treatment period. Thus, micro capsule robot has an important position in the field of the treatment of gastrointestinal tract.Petal shape type is closely associated with multiple wedge effects, the profile shape of circular petal-shaped capsule robot is too simplex to select. In order to expand the range of profile, this paper proposes a high power function profile petal capsule robot based on the circular petal capsule robot to further improve the swimming speed of the capsule robot in the viscous liquid environment.The driving principle of the capsule robot is analyzed in this paper, and the principle of the capsule robot is expounded.After that, the dynamic pressure characteristics of the high order power function profile capsule robot are analyzed. Couette fluid flow model is established to solve the fluid velocity,pressure and shearing force, and the axial and circumferential force balance equations of the robot are established.In this paper, the steady state swimming speed of the high-order power function petal capsule robot is chosen as the objective function to optimize the profile of the robots. The objective optimization problem is solved by using the genetic algorithm, which makes the swimming speed of the robot be optimal. The best profile curve of the is solved of the second,the third and the fourth power function profile capsule robot, and steady state swimming speed of the optimal profile of the third power function is the best.Because of the existence of multi-wedge effects of the petal-shaped capsule robot when motioning in the fluid pipeline, the driving performance of high-order power function petal-shaped capsule robot and circular petal-shaped capsule robot is compared. In order to eliminate the influence of structural factors, all the capsule robots takes the same structure parameters. The driving performance of high-order power function petal-shaped capsule robots and circular petal-shaped capsule robot are circular petal-shaped capsule robot toanalyze.The simulation results show that the second and third power function profile capsule robot can increase swimming speed and surface fluid pressure, and the surface fluid resistance torque is reduced. Thus, the second and third power function profile capsule robot can enhance multi-wedge effects.In order to verify the correctness of the theoretical analysis model, four kinds of contrast robots are processed to carry out driving test in organic glass tube filled with silicone oil. The success of the experimental results show that the fluid resistance torque of the high-order power function capsule robot is reduced, and the swimming speed of second and third power function profile capsule robot is improved.