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胶囊机器人在小肠内启动的动力学分析
Alternative TitleDynamics Analysis of the Start Motion of a Capsule Robot
谭人嘉; 刘浩; 李洪谊; 王越超
Department机器人学研究室
Source Publication信息与控制
ISSN1002-0411
2015
Volume44Issue:5Pages:552-556
Indexed ByCSCD
CSCD IDCSCD:5573259
Contribution Rank1
Funding Organization国家自然科学基金资助项目( 61105099) ; 中科院装备研制项目( YZ201146)
Keyword胶囊机器人 动力学 “速度—位移”相平面 粘弹性
Abstract针对目前胶囊机器人的运动与小肠的材料力学特性之间尚未建立数量关系的问题进行了研究.以和胶囊内窥镜外形相似的“内力—摩擦”式胶囊机器人为例,基于连续介质力学理论,结合五元件粘弹性模型,建立了其在肠道中运动的动力学方程;采用前期的五元件模型参数实验测量结果,在“速度—位移”相平面上,定量且直观地解释了驱动力的给力方式对胶囊启动过程的影响.
Other AbstractThis study aims to clarify the quantitative relation between the motion of a capsule robot and the material mechanics of intestines. The“inner force friction”capsule robot ( capsubot) is used as an example because it has almost the same shape as a capsule endoscope. On the basis of the theory of continuum mechanics and the five-element model,a dynamic equation is established for the capsubot’s movement within intestines. The parameters of this model that are adopted in this study are obtained from our previous study. Finally,the motion effect,which is altered when the driving force is used to start the capsule,is explained quantitatively and intuitively as a“velocity-displacement”phase.
Language中文
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/17436
Collection机器人学研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
Recommended Citation
GB/T 7714
谭人嘉,刘浩,李洪谊,等. 胶囊机器人在小肠内启动的动力学分析[J]. 信息与控制,2015,44(5):552-556.
APA 谭人嘉,刘浩,李洪谊,&王越超.(2015).胶囊机器人在小肠内启动的动力学分析.信息与控制,44(5),552-556.
MLA 谭人嘉,et al."胶囊机器人在小肠内启动的动力学分析".信息与控制 44.5(2015):552-556.
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