| A design of the electromagnetic driver for the "internal force-static friction" capsubot | |
Su G(苏刚); Zhang C(张诚); Tan RJ(谭人嘉); Li HY(李洪谊)
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| 2009 | |
| 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 |
| 页码 | 613-617 |
| 通讯作者 | 苏刚 |
| 中文摘要 | 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Computer Society |
| 会议录 | 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-3803-7 |
| WOS记录号 | WOS:000285372900108 |
| 内容类型 | 会议论文 |
| 源URL | [http://ir.sia.cn/handle/173321/8471]  |
| 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 | Su G,Zhang C,Tan RJ,et al. A design of the electromagnetic driver for the "internal force-static friction" capsubot[C]. 见:2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009). St. Louis, MO, USA. October 10-15, 2009. |
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