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题名: Analytical Friction Model of the Capsule Robot in the Small Intestine
作者: Zhang C(张诚); Liu H(刘浩)
作者部门: 机器人学研究室
通讯作者: 刘浩
关键词: Biotribology ; Capsule robot ; Intestine Analytical model ; Hyperelasticity
刊名: Tribology Letters
ISSN号: 1023-8883
出版日期: 2016
卷号: 64, 期号:3, 页码:1-11
收录类别: EI
产权排序: 1
项目资助者: 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
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/19372
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
Zhang C,Liu H. Analytical Friction Model of the Capsule Robot in the Small Intestine[J]. Tribology Letters,2016,64(3):1-11.
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文件名: Analytical Friction Model of the Capsule Robot in the Small Intestine.pdf
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