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Analytical Friction Model of the Capsule Robot in the Small Intestine
Zhang C(张诚); Liu H(刘浩)
作者部门机器人学研究室
关键词Biotribology Capsule Robot Intestine Analytical Model Hyperelasticity
发表期刊Tribology Letters
ISSN1023-8883
2016
卷号64期号:3页码:1-11
收录类别SCI ; EI
EI收录号20164402972354
WOS记录号WOS:000389604800007
产权排序1
资助机构National Natural Science Foundation of China (No. 61503370), National Science and technology support program (2015BAI01B13) and the Natural Science Foundation of Liaoning Province (No. 20141151).
摘要One of the most important reasons that make the capsule robot cannot be used in clinic is the absence of its mechanical model, especially when the capsule robot moves at a constant velocity, which is its major working condition. An analytical friction model of the capsule robot in the small intestine is researched in the paper. The model is based on the size of the capsule robot, hyperelastic constitutive model of the small intestine’s material and their interaction properties. Analytical expressions of time-dependent frictional resistance are obtained and curves are plotted when all the parameters are substituted. Compared with experimental results, the model calculation results are valid. The errors of the period, valley value and peak value are 6.88, 9.38 and 4.78 %, respectively. The work is hoped to perfect the friction model between the capsule robot and the small intestine and contribute to the development of the capsule robot.
语种英语
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/19372
专题机器人学研究室
通讯作者Liu H(刘浩)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences, Shenyang 110016, China
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GB/T 7714
Zhang C,Liu H. Analytical Friction Model of the Capsule Robot in the Small Intestine[J]. Tribology Letters,2016,64(3):1-11.
APA Zhang C,&Liu H.(2016).Analytical Friction Model of the Capsule Robot in the Small Intestine.Tribology Letters,64(3),1-11.
MLA Zhang C,et al."Analytical Friction Model of the Capsule Robot in the Small Intestine".Tribology Letters 64.3(2016):1-11.
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