Modeling of Frictional Resistance of a Capsule Robot Moving in the Intestine at a Constant Velocity
文献类型：期刊论文
| 作者 | Zhang C(张诚) ; Liu H(刘浩); Li HY(李洪谊)
|
| 刊名 | TRIBOLOG LETTERS
 |
| 出版日期 | 2014 |
| 卷号 | 53期号:1页码:71-78 |
| 关键词 | Frictional resistance Capsule robot Intestine Hyperelasticity Stick–slip |
| ISSN号 | 1023-8883 |
| 产权排序 | 1 |
| 通讯作者 | 刘浩 |
| 中文摘要 | Capsule robot is the direction for future development of capsule endoscopy. The imperfection of friction model between the capsule robot and the intestine has been one of the biggest obstacles of its development. Uniform motion is the main mode of the capsule robot in the intestine. However, the frictional resistance variation of the capsule robot in this period has not been understood completely until now. This is the research content in the paper. First, some experiments are conducted to measure actual frictional resistance with a homemade experiment platform. Next, the model of the frictional resistance at a constant velocity is established based on the hyperelasticity of the intestinal material and the interactive features between the capsule robot and the intestine. At last, the theoretical result of the model is proved to be reasonable by simulation analysis. The model is efficient to describe the frictional resistance variation at a constant velocity and can be seen as another kind of stick–slip motion. The work is hoped to perfect the friction model between the capsule robot and the intestine and contribute to the development of the capsule robot. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Chemical ; Engineering, Mechanical |
| 研究领域[WOS] | Engineering |
| 关键词[WOS] | ENDOSCOPE ; SYSTEM |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000329317800007 |
| 公开日期 | 2013-12-27 |
| 源URL | [http://ir.sia.cn/handle/173321/14054]  |
| 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 | Zhang C,Liu H,Li HY. Modeling of Frictional Resistance of a Capsule Robot Moving in the Intestine at a Constant Velocity[J]. TRIBOLOG LETTERS,2014,53(1):71-78. |
| APA | Zhang C,Liu H,&Li HY.(2014).Modeling of Frictional Resistance of a Capsule Robot Moving in the Intestine at a Constant Velocity.TRIBOLOG LETTERS,53(1),71-78. |
| MLA | Zhang C,et al."Modeling of Frictional Resistance of a Capsule Robot Moving in the Intestine at a Constant Velocity".TRIBOLOG LETTERS 53.1(2014):71-78. |
入库方式： OAI收割
来源：沈阳自动化研究所
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