中文摘要：

基于腹足动物运动原理,提出一种能在脉动流场中稳定可靠运行的介入机器人。考虑到流场及在其中运动的介入机器人会发生相互影响,笔者在数值分析流场对机器人冲击力的基础上,对机器人外形结构进行优化,并对流体冲击下稳定运行时所需的机器人与管腔间的切向阻力进行定量分析。为分析通过磁流变液固化后机体与管壁间由于啮合产生的最大切向阻力是否足够抵抗流体的冲击,建立生物管腔内壁表面特性模型,实验研究机器人与管壁间间切向运动阻力影响因素。

英文摘要：

Based on the motion principles of gastropoda,a novel interventional micro-injury robot which can run smoothly in the biology lumen full of impulsive flowing liquid is presented.Considering the interaction of the robot and flow field,the impact force of the fluids to the micro robot and the required tangential resistance between the robot and the lumen wall during the smooth running are analyzed numerically.Structures of the micro robot are optimized according to the analysis results.In order to confirm whether the tangential resistance produced by the meshing of the lumen wall and body of the micro robot with solidified magnetorheological fluid is enough to resist the impact of the flowing liquid,the model of lumen′s surface topography is built and relevant experiments on the tangential resistance are carried out.