内螺旋头锥形尾螺旋推进磁微机器人设计与运动特性

doi:10.3901/JME.260166

摘要/Abstract

摘要： 为在血管、组织液等粘性流体中实现靶向治疗与微创手术，不同结构的磁微机器人成为重要手段。设计一种螺旋推进磁微机器人，其头部为内置螺旋槽的流线形结构，尾部为锥形结构，旨在通过新颖几何结构实现微机器人运动速度提升。基于阻力理论建立微机器人的动力学模型，求解微机器人运动速度。基于多物理场耦合理论，建立微机器人流体动力学仿真模型，揭示结构参数、磁场参数和流体粘度对微机器人运动特性的影响规律。仿真结果表明，内螺旋槽降低了形状阻力系数，锥形尾部设计的渐进曲率有效抑制流动分离，使微机器人运动速度提升32.5%。微机器人运动速度与磁场旋转频率呈现非线性响应，失步频率受微机器人平均磁化率、磁场强度和流体粘度的协同调控。构建实验平台，研制内螺旋头锥形尾磁微机器人，开展运动特性实验，验证所建立理论模型和仿真模型的有效性。在锥形尾长度为5 mm、螺距为2 mm、螺旋圈数为2、锥角为15°、锥形尾线半径为0.3 mm的实验条件下，微机器人获得1.3 mm/s峰值速度。

关键词: 磁微机器人, 螺旋推进, 锥形尾, 内螺旋头, 运动特性

Abstract: In order to achieve targeted therapy and minimally invasive surgery by active navigation in viscous fluids such as blood vessels and tissue fluids, magnetic microrobots with different structures have been developed. In the present study, a helical propulsion micro-robotic structure is designed based on a streamlined head with an inner helical groove and conical tail, aiming to enhance micro-robot motion velocity and stability enhancement through geometric optimization. The dynamics model of the microrobot is established based on the resistance theory to solve motion velocity. Based on multiphysics coupling theory, a simulation model of coil magnetic drive dynamics and microrobot fluid dynamics is established, revealing the nonlinear modulation mechanisms of magnetic field parameters, fluid viscosity, and structural parameters on moving performance. Simulation analysis shows that the shape drag coefficient of the inner helical groove is reduced by secondary flow vorticity. The flow separation was effectively suppressed by conical tail design with progressive curvature, achieving a 32.5% improvement in propulsion efficiency. The velocity of the micro-robot exhibits a nonlinear response to the rotational frequency of the magnetic field, with the critical step-out frequency governed by the synergistic modulation of the magnetic flux intensity, the fluid viscosity, and the average magnetization. The helical propulsion micro-robot of a streamlined head and a conical tail is developed, conducting experiments on micro-robot motion characteristics based on an established experimental platform. The validity of the theoretical model was verified using an established experimental system. The maximum swimming velocity of 1.3 mm/s was obtained with a conical tail of 5 mm, a pitch of 2 mm, a spiral turn of 2, a cone angle of 15°, and a line radius of 0.3 mm.

Key words: magnetic micro-robot, helical propulsion, conical tail, inner helical groove head, motion characterization

中图分类号:

TP242

范增华, 张坤, 王瀚, 荣伟彬, 许治, 高军. 内螺旋头锥形尾螺旋推进磁微机器人设计与运动特性[J]. 机械工程学报, 2026, 62(13): 66-76.

FAN Zenghua, ZHANG Kun, WANG Han, RONG Weibin, XU Zhi, GAO Jun. Design and Motion Characterization of Helical Propulsion Magnetic Micro-robot with Inner Helical Groove Head and Conical Tail[J]. Journal of Mechanical Engineering, 2026, 62(13): 66-76.

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http://www.cjmenet.com.cn/CN/Y2026/V62/I13/66

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