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Modeling of Frictional Resistance of a Capsule Robot Moving in the Intestine at a Constant Velocity
Zhang C(张诚); Liu H(刘浩); Li HY(李洪谊)
作者部门机器人学研究室
关键词Frictional Resistance Capsule Robot Intestine Hyperelasticity Stick–slip
发表期刊TRIBOLOGY LETTERS
ISSN1023-8883
2014
卷号53期号:1页码:71-78
收录类别SCI ; EI
EI收录号20140517251341
WOS记录号WOS:000329317800007
产权排序1
摘要Capsule robot is the direction for future development of capsule endoscopy. The imperfection of friction model between the capsule robot and the intestine has been one of the biggest obstacles of its development. Uniform motion is the main mode of the capsule robot in the intestine. However, the frictional resistance variation of the capsule robot in this period has not been understood completely until now. This is the research content in the paper. First, some experiments are conducted to measure actual frictional resistance with a homemade experiment platform. Next, the model of the frictional resistance at a constant velocity is established based on the hyperelasticity of the intestinal material and the interactive features between the capsule robot and the intestine. At last, the theoretical result of the model is proved to be reasonable by simulation analysis. The model is efficient to describe the frictional resistance variation at a constant velocity and can be seen as another kind of stick–slip motion. The work is hoped to perfect the friction model between the capsule robot and the intestine and contribute to the development of the capsule robot.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Engineering, Chemical ; Engineering, Mechanical
关键词[WOS]ENDOSCOPE ; SYSTEM
WOS研究方向Engineering
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文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/14054
专题机器人学研究室
通讯作者Liu H(刘浩)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
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GB/T 7714
Zhang C,Liu H,Li HY. Modeling of Frictional Resistance of a Capsule Robot Moving in the Intestine at a Constant Velocity[J]. TRIBOLOGY LETTERS,2014,53(1):71-78.
APA Zhang C,Liu H,&Li HY.(2014).Modeling of Frictional Resistance of a Capsule Robot Moving in the Intestine at a Constant Velocity.TRIBOLOGY LETTERS,53(1),71-78.
MLA Zhang C,et al."Modeling of Frictional Resistance of a Capsule Robot Moving in the Intestine at a Constant Velocity".TRIBOLOGY LETTERS 53.1(2014):71-78.
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