Numerical simulation and experimental measurement of fluid flow field in pipe with capsule robot
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摘要: 胶囊机器人广泛应用于人体肠道的检查和治疗。根据永磁体法，设计制造了一种磁控光滑胶囊机器人。基于计算流体动力学（CFD）方法，模拟了胶囊机器人在充满黏液的管道内旋进（旋转和平移）时，其周围流体的流场（速度和涡量）；利用粒子图像测速（PIV）技术测量该流场；计算了胶囊机器人以不同转速旋进时，管道内流体流场以及胶囊机器人所受到的阻力、阻力矩和周围流体的平均湍流强度等。最后，还对胶囊机器人周围流体流线的形状和分布、流体速度及涡量的分布和大小进行了实验测量。结果表明：1）随着胶囊机器人转速的增大，胶囊机器人四周和下部区域流体速度和流体涡量都略微增大，而其周围流体的流线和涡量分布规律基本相似。2）随着胶囊机器人转速的增大，胶囊机器人前进方向所受阻力矩和周围流体平均湍流强度均增大，而其前进方向所受阻力基本不变。3）实验测量到的胶囊机器人周围流体流线的形状和分布、流体速度及涡量的分布和大小与数值计算结果基本相似。
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关键词:
- 胶囊机器人 /
- CFD(计算流体动力学) /
- PIV(粒子图像测速) /
- 流体流场 /
- 转速
Abstract: Capsule robots are widely used in the inspection and treatment of human intestines. According to the permanent magnet method, a magnetically controlled smooth capsule robot is designed and manufactured. Based on the Computational Fluid Dynamics (CFD) method, the fluid flow field (velocity and vorticity) around the capsule robot is numerically simulated when the capsule robot precesses (rotates and translates) in the pipe filled with mucus. The Particle Image Velocimetry (PIV) technology is used to measure the fluid flow field. The resistance, the resisting moment of the robot and the average turbulent intensity of the surrounding fluid are further calculated as the capsule robot precesses at different rotational speeds. Finally, the shape and distribution of fluid streamlines, and the distribution and size of the fluid velocity and vorticity around the capsule robot are also experimentally measured. The results show that: 1) when the rotational speed of the capsule robot is increased, the fluid velocity and vorticity in the surrounding and lower regions of the capsule robot are slightly increased, while the fluid streamlines and vorticity distribution of the surrounding fluid are basically similar. 2) With the increase of the rotational speed of the capsule robot, the resisting moment of the capsule robot in the forward direction and the average turbulent intensity of the surrounding fluid are all increased, while the resistance of the capsule robot in the forward direction remains basically unchanged. 3) The experimentally measured shape and distribution of fluid streamlines, and the measured distribution and size of the fluid velocity and fluid vorticity around the capsule robot are basically similar to the numerical calculation results.-
Key words:
- capsule robot /
- CFD /
- PIV /
- fluid flow field /
- rotational speed
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图 1 胶囊机器人结构和驱动原理示意图
Figure 1. Schematic diagram of structure and driving principle of capsule robot
图 3 管内流场PIV测量原理示意图
Figure 3. Schematic diagram of PIV measurement principle of fluid flow field in pipe
图 4 胶囊机器人管内流场PIV测量实验系统
1. 片光源镜头2. 多轴运动平台3. 玻璃水槽4. 实验玻璃圆管5. 磁性胶囊机器人6. 外部永磁体7. 导光臂8. 激光器9. PIV测量系统电脑及同步器10. CCD相机
Figure 4. PIV experimental system for measuring fluid flow field in pipe with capsule robot
图 7 胶囊机器人与管道上壁面区域流体x方向速度(n=150 r/min)
Figure 7. x-directional velocity of fluid between capsule robot and upper wall of pipe (n=150 r/min)
图 8 胶囊机器人周围流体的流线和速度云图叠加
Figure 8. Superimposition of the streamlines and velocity clouds of the fluid around capsule robot
图 10 胶囊机器人下部区域流体绕z轴涡量数值计算和实验测量的对比(v=0.04 m/s, n=150 r/min)
Figure 10. Comparison of numerical calculation and experimental measurement of fluid vorticity around z-axis at the lower zone of capsule robot (v=0.04 m/s, n=150 r/min)
图 11 数值计算的不同机器人转速下管内流体速度云图和流线叠加
Figure 11. Fluid velocity nephogram and streamline superposition in the pipe at different rotational speeds of robot by numerical calculation
图 12 数值计算的不同机器人转速下管内流体涡量
Figure 12. Fluid vorticity in the pipe at different rotational speeds of robot by numerical calculation
图 13 数值计算的不同转速下机器人下方流体绕z轴涡量最大负值
Figure 13. Maximum negative vorticity of fluid under the robot around z-axis at different rotational speeds of robot by numerical calculation
图 14 机器人前进方向所受阻力与机器人转速关系
Figure 14. Relationship between the resistance in the forward direction of robot and the rotational speed n
图 15 机器人前进方向所受阻力矩与机器人转速关系图
Figure 15. Relationship between the resisting moment in the forward direction of robot and the rotational speed n
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