中文摘要：

为将螺旋驱动器应用到人体血管中，对单圆柱螺旋内窥镜机器人轴向力进行了实验研究，．基于旋转黏度计工作原理，建立内窥镜机器人动力学性能实验台．实验比较了牛顿流体和Casson非牛顿流体介质中机器人的轴向驱动力随机体几何特征参数的变化规律．结果表明．在两种介质中，随着机体螺纹线数，螺旋升角，螺旋槽深，螺旋槽宽的增大，机器人轴向驱动力均是先增大后减小，这四个参数都有其对应的最优解．在两种介质中，机器人轴向驱动力变化规律类似．在高剪切率的情况下，将生物体液简化为牛顿流体，可以大大简化螺旋机器人仿真分析模型．

英文摘要：

To utilize the spiral actuator into the vascular body, the axial thrust force of a spiral type endoscopic micro robot with single cylindrical body was investigated. Based on the operating principle of rotary viscometer, the dynamical performance experiment rig of spiral micro robot was fabricated. Axial thrust force rules varying with the structural parameters in Newtonian liquid and Casson non-Newtonian liquid medium were performed in comparative experimental researches. Experimental results show that the thrust forces first increase and then decrease with the increasing helical number, helical angle, groove depth and groove span in the two medium. The optimum solution of the four structural parameters can be accordingly obtained from the experimental data. The tendency curves of axial thrust force are similar in the two medium. Body liquids can be replaced as Newtonian liquids at high sharing rate, and the simulation model of spiral type endoscopic micro robot is greatly simplified.