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题名: A design of the electromagnetic driver for the "internal force-static friction" capsubot
作者: Su G(苏刚) ; Zhang C(张诚) ; Tan RJ(谭人嘉) ; Li HY(李洪谊)
作者部门: 机器人学研究室
会议名称: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
会议日期: October 10-15, 2009
会议地点: St. Louis, MO, USA
会议主办者: IEEE
会议录: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2009
页码: 613-617
收录类别: CPCI(ISTP) ; EI
摘要: A capsule robot that moves utilizing the internal force between the shell and the sliding mass and the friction between the shell and the environment is named ¿internal force-static friction¿ capsubot. The new driving mode is used in the active gastrointestinal examination robot system, which is a novel and meaningful attempt. In this paper, for the operation mechanism and movement characteristics of capsubot, a new type of electromagnetic driver has been designed. The driver is optimized and analyzed by magnetic circuit method and finite element method. Then we manufacture the prototype of the capsubot. The driver has big output power, a small size and a high weight proportion of the sliding mass and the shell, which has been proved by the experiment. The speed on the table is 45.8mm/s.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8471
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
苏刚; 张诚; 谭人嘉; 李洪谊.A design of the electromagnetic driver for the "internal force-static friction" capsubot.见:IEEE .2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009),New York,2009,613-617
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