Modeling of Velocity-dependent Frictional Resistance of a Capsule Robot Inside an Intestine

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	Modeling of Velocity-dependent Frictional Resistance of a Capsule Robot Inside an Intestine
	Zhang C(张诚); Liu H(刘浩); Tan RJ(谭人嘉); Li HY(李洪谊)
刊名	TRIBOLOGY LETTERS
	2012
卷号	47 期号:2 页码:295-301
关键词	Friction model Velocity-dependent Intestine Viscoelasticity
ISSN号	1023-8883
通讯作者	刘浩
产权排序	1
中文摘要	A model is first built for predicting the velocity-dependent frictional resistance of a capsule robot that moves inside the intestine in the paper. The capsule robot plays a more and more important role in checking diseases in the intestine. This study aims to optimize the locomotion mechanism and the control strategy of the capsule robot. The model consists of three parts: environmental resistance, viscous friction, and Coulomb friction. Environmental resistance is induced by the stress due to the viscoelastic deformation of the intestinal wall. Viscous friction is analyzed according to the apparent viscosity of intestinal mucus. Coulomb friction is a product of the local contact pressure and the Coulomb friction coefficient. In order to analyze the effects of the intestinal deformation, a five-element model is used to describe the stress relaxation of the intestinal material. Experimental investigation is used to identify the model parameters with homemade physical simulation measurement system and fixtures. Finally, the model's validity is verified by experimental results. It is shown that the model predicting results can fit the experimental results well when the moving velocity of the capsule is lower than 20 mm/s. The R (2) of these two sets of data is 0.8769. But at a higher velocity, there are significant differences between the two results and the R (2) declines to 0.1666. The friction model is expected to be useful in the development of the medical equipment in the intestine and the study of biomechanics of the intestine.
类目[WOS]	Engineering, Chemical; Engineering, Mechanical
研究领域[WOS]	Engineering
关键词[WOS]	ENDOSCOPE ; DESIGN
收录类别	SCI ; EI
资助信息	This study was supported by the National Technology R&D Program of China, under the Contract Number 2012BAI14B03 and Project 61105099 supported by National Natural Science Foundation of China.
语种	英语
WOS记录号	WOS:000305520800013
公开日期	2012-10-24
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/10028]
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,Tan RJ,et al. Modeling of Velocity-dependent Frictional Resistance of a Capsule Robot Inside an Intestine[J]. TRIBOLOGY LETTERS,2012,47(2):295-301.
APA	Zhang C,Liu H,Tan RJ,&Li HY.(2012).Modeling of Velocity-dependent Frictional Resistance of a Capsule Robot Inside an Intestine.TRIBOLOGY LETTERS,47(2),295-301.
MLA	Zhang C,et al."Modeling of Velocity-dependent Frictional Resistance of a Capsule Robot Inside an Intestine".TRIBOLOGY LETTERS 47.2(2012):295-301.