DYNAMICAL MODELLING AND STRUCTURAL PARAMETER OPTIMIZATION OF A NOVEL SPIRAL IN-PIPE ROBOT

Liang Liang, Puhua Tang, Bai Chen, Yong Tang, Yan Xu, and Daiyong Lin

References

  1. [1] G.D. Meron, The development of the swallowable video-capsule (M2A), Gastrointestinal Endoscopy, 52(6), 2000, 812–819.
  2. [2] RF System Lab, Sayaka [Online], http://www.rfsystemlab. com/en/sayaka/ (2014).
  3. [3] H.J. Park, H.W. Nam, B.S. Song, J.L. Choi, et al., Design of bi-directional and multi-channel miniaturized telemetry module for wireless endoscopy, Proc. 2nd Annual International IEEE-EMB Special Topic Conf. on Microtechnologies in Medicine & Biology, Madison, WI, USA, 2002, 273–276.
  4. [4] S. Maqbool, H.P. Parkman, and F.K. Friedenberg, Wireless capsule motility: comparison of the Smartpill GI monitoring with scintigraphy for measuring whole gut transit, Digestive Diseases and Sciences, 54(10), 2009, 2167–2174.
  5. [5] S. Yim and M. Sitti, Shape-programmable soft capsule robots for semi-implantable drug delivery, IEEE Transactions on Robotics, 28(5), 2012, 1198–1202.
  6. [6] M. Simi, P. Valdastri, C. Quaglia, and P. Dario, Design, fabrication and testing of a capsule with hybrid locomotion for gastrointestinal tract exploration, IEEE/ASME Transactions on Mechatronics, 15(2), 2010, 170–180.
  7. [7] Y. Nakazato, Y. Sonobe, and S. Toyama, Development of an in-pipe micro mobile robot using peristalsis motion, Journal of Mechanical Science and Technology, 24(1), 2010, 51–54.
  8. [8] L. Phee, A. Menciassi, D. Accoto, C. Stefanini, and P. Dario, Analysis of robotic locomotion devices for the gastrointestinal tract, Springer Tracts in Advanced Robotics, 6, 2003, 467–483.
  9. [9] B. Kim, S. Lee, J.H. Park, and J.-O. Park, Design and fabrication of a locomotive mechanism for capsule-type endoscopes using shape memory alloys (SMAs), IEEE/ASME Transactions on Mechatronics, 10(1), 2005, 77–86.
  10. [10] G. Yan, Q. Lu, G. Ding, and D. Yan, The prototype of a piezoelectric medical microrobot, Proc. International Symposium on Micromechatronics and Human Science, 2002, 73–77.
  11. [11] M.S. Triantafyllou and G.S. Triantafyllou, An efficient swimming machine, Scientific American, 272(3), 1995, 64–70.
  12. [12] L. Shi, S. Guo, and K. Asaka, A novel jellyfish-like biomimetic microrobot, Proc. IEEE/ICME International Conf. on Complex Medical Engineering, Gold Coast, Australia, 2010, 277–281.
  13. [13] B. Chen, Y. Liu, S. Chen, S. Jiang, et al., A biomimetic spermatozoa propulsion method for interventional micro robot, Journal of Bionic Engineering, 5, 2008, 106–112.
  14. [14] D. Byun, J. Choi, K. Cha, J. Park, and S. Park, Swimming microrobot actuated by two pairs of Helmholtz coils system, Mechatronics, 21(1), 2011, 357–364.
  15. [15] K. Ikeuchi, K. Yoshinaka, and N. Tomita, Low invasive propulsion of medical devices by traction using mucus, Wear, 209(1–2), 1997, 179–183.
  16. [16] C. Hu, D. Chen, M. Meng, L. Wang, et al., A wireless actuation system for micro-robot moving inside pipeline, Proc. IEEE/ASME International Conf. on Advanced Intelligent Mechatronics, Xi’an, China, 2008, 653–658.
  17. [17] Y. Zhou, L. Li, and D. Zhao, New kind of micro-robot, Chinese Journal of Mechanical Engineering, 37(1), 2001, 11–13.
  18. [18] L. Liang, B. Chen, Y. Tang, S. Chen, et al., Research on a novel inner and outer spiral micro in-pipe robot, Journal of Advanced Mechanical Design Systems and Manufacturing, 8(6), 2014, 1–14.
  19. [19] L. Liang, H. Peng, B. Chen, Y. Tang, et al., Performance analysis and parameter optimization of an inner spiral in-pipe robot, Robotica, 2014, 1–22. doi: 10.1017/S0263574714001507.
  20. [20] F. Wang, Computational fluid dynamics analysis-CFD software theory and application, 1st ed. (Beijing: Tsinghua University Press, 2004).
  21. [21] B. Chen, Study on the endoscopic micro robots operating in liquid environment, Doctoral Dissertation/Ph.D. Thesis, Zhejiang University, Hangzho, China, 2005.
  22. [22] W. Zhang and P. Zhang, Mechanically experimental study on a capsule robot in vitro, Lubrication Engineering, 32(6), 2002, 15–18, 22.
  23. [23] K. Fang and C. Ma, Orthogonal and uniform experimental design, 1st ed. (Beijing: Science Press, 2001).

Important Links:

Go Back