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Modeling of Frictional Resistance of a Capsule Robot Moving in the Intestine at a Constant Velocity

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Abstract

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.

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Acknowledgments

This work was supported by the National Natural Science Foundation of China (No. 61105099) and the National Technology R&D Program of China (No. 2012BAI14B03).

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Authors and Affiliations

  1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, 110016, China

    Cheng Zhang, Hao Liu & Hongyi Li

  2. University of Chinese Academy of Sciences, Beijing, 100049, China

    Cheng Zhang

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  1. Cheng Zhang
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  2. Hao Liu
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  3. Hongyi Li
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Correspondence to Hao Liu.

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Zhang, C., Liu, H. & Li, H. Modeling of Frictional Resistance of a Capsule Robot Moving in the Intestine at a Constant Velocity. Tribol Lett 53, 71–78 (2014). https://doi.org/10.1007/s11249-013-0244-5

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  • DOI: https://doi.org/10.1007/s11249-013-0244-5

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