中文摘要：

提出一种花瓣型胶囊机器人,表面偏心花瓣廓形与管壁形成四个收敛楔形空间,使流体运动路径发生改变并产生多楔形效应。建立满足机器人外螺旋肋表面边界条件的流体雷诺差分控制方程和机器人流体动力平衡方程,以游动速度为目标函数,通过遗传算法对花瓣廓形进行优化,流体动压特性和游动速度特性研究结果表明：在一定间隙范围内,优化花瓣廓形机器人表面流体动压力和游动速度均增大,提高了肠道内驱动性能与安全性,该机器人结构简单,非结构化环境适应能力强,可望提高肠道内的窥视与施药等医疗作业效率。

英文摘要：

A petal-shaped capsule robot is proposed. The convergent wedge-like gaps are formed between the surface of four eccentric tiles and the inner pipe wall, and multiple wedge effects happens to the fluid when it flows around the four convergent wedge-like gaps when the robot rotating. Fluid Reynolds differential control equation and fluid dynamic equilibrium of the robot satisfying the boundary conditions of the outer surface of the capsule robot with spiral blades are derived. For investigating fluid dynamic characteristics and swimming speed, regarding swimming speed as objective function, optimization of petal-shape is conducted using genetic algorithm. The results show that both fluid dynamic pressure and swimming speed are improved within a certain gap range, achieving good driving performance and safety in the intestinal tract. With favorable adaptability to the unstructured environment and high driving efficiency, the petal-shaped capsule robot has a good prospect of applications inside the intestinal tract for diagnose and drug delivery.