Analytical Friction Model of the Capsule Robot in the Small Intestine

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• 作者：Cheng Zhang ; Hao Liu
• 关键词：Biotribology ; Capsule robot ; Intestine ; Analytical model ; Hyperelasticity
• 刊名：Tribology Letters
• 出版年：2016
• 出版时间：December 2016
• 年：2016
• 卷：64
• 期：3
• 全文大小：1,703 KB
• 刊物类别：Chemistry and Materials Science
• 刊物主题：Chemistry
  Tribology, Corrosion and Coatings
  Surfaces and Interfaces and Thin Films
  Theoretical and Applied Mechanics
  Physical Chemistry
  Nanotechnology
  
• 出版者：Springer Netherlands
• ISSN：1573-2711
• 卷排序：64

文摘

One of the most important reasons that make the capsule robot cannot be used in clinic is the absence of its mechanical model, especially when the capsule robot moves at a constant velocity, which is its major working condition. An analytical friction model of the capsule robot in the small intestine is researched in the paper. The model is based on the size of the capsule robot, hyperelastic constitutive model of the small intestine’s material and their interaction properties. Analytical expressions of time-dependent frictional resistance are obtained and curves are plotted when all the parameters are substituted. Compared with experimental results, the model calculation results are valid. The errors of the period, valley value and peak value are 6.88, 9.38 and 4.78 %, respectively. The work is hoped to perfect the friction model between the capsule robot and the small intestine and contribute to the development of the capsule robot.