Experimental investigation of the small intestine's viscoelasticity for the motion of capsule robot
文献类型：会议论文
| 作者 | Tan RJ(谭人嘉) ; Liu H(刘浩); Su G(苏刚); Zhang C(张诚); Li HY(李洪谊); Wang YC(王越超)
|
| 出版日期 | 2011 |
| 会议名称 | 2011 IEEE International Conference on Mechatronics and Automation (ICMA 2011) |
| 会议日期 | August 7-10, 2011 |
| 会议地点 | Beijing, China |
| 关键词 | capsule robot viscoelasticity intestine stress relaxation dynamic mechanical analysis |
| 页码 | 249-253 |
| 中文摘要 | Active capsule robots are studied widely all over the world, and various prototypes have been devised, e.g. the ldquointernal force-static frictionrdquo capsule robot. During the previous research on this capsubot, we have found that the intestine's resistance characteristic is of great importance to both the design and motion control of the capsubot, however, there are very few studies on the viscoelasticity of the small intestine, and that may make the main causality of the capsubot's motion failure. In this work, experiments are performed based on two different methods: the stress relaxation on the self-made measurement system, and the shear measurement on the dynamic mechanical analyzer (DMA). As a result, we obtain a five-element model, describing the viscoelasticity of intestines, and find that the relaxation modulus varies with the range of strain. The DMA test indicates that the storage modulus descends with the increasing shear strain, which means the hyper-elasticity of small intestine can be measured numerically. Also the strain energy density and stress-strain hysteresis loops can be obtained. This work paves the way for the modeling of intestine and the finite element analysis (FEA) in the future. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 2011 IEEE International Conference on Mechatronics and Automation (ICMA 2011)
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-8113-2 |
| 源URL | [http://ir.sia.cn/handle/173321/8697]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Tan RJ,Liu H,Su G,et al. Experimental investigation of the small intestine's viscoelasticity for the motion of capsule robot[C]. 见:2011 IEEE International Conference on Mechatronics and Automation (ICMA 2011). Beijing, China. August 7-10, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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