SUGGESTION AND MODELING OF A NOVEL CAPSULAR MICROROBOT WITH SURFACE FORCES

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NADAFI D. B. R.; KABGANIAN M.

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Paper Information

Journal: JOURNAL OF MECHANICAL ENGINEERING AMIRKABIR (AMIRKABIR) Year:2011 | Volume:42 | Issue:3 Page(s): 1-8

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Title

SUGGESTION AND MODELING OF A NOVEL CAPSULAR MICROROBOT WITH SURFACE FORCES

Author(s)

NADAFI D. B. R. | KABGANIAN M. | Issue Writer Certificate

Keywords

MICROROBOTQ3

ENDOSCOPYQ3

MICROACTUATORQ3

IONIC POLYMER METAL COMPOSITEQ3

RESTING ADHESIONQ3

SURFACE ADHESIONQ3

MODULQ3

Abstract

For developing of endoscopic Capsular, a design of legged capsular MICROROBOT with IONIC POLYMER METAL COMPOSITE actuator is suggested in this paper. First locomotion of MICROROBOT is explained then MICROROBOT is modeled by envisage exerting surface forces and MICROACTUATOR. Surface forces contain slip friction, SURFACE ADHESION and RESTING ADHESION and polymeric MICROACTUATOR is IONIC POLYMER METAL COMPOSITE. Time variant response of polymeric MICROACTUATOR is modeled fundamental of coupled electromechanical equation and electric equivalent bulk gel polymeric. Result simulation of dynamical model MICROROBOT shows that best installation angle of legs is 60 degree, proper mass of MICROROBOT is 2g and speed marching is 1 millimeter per second.

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APA: Copy

NADAFI D. B., R., & KABGANIAN, M.. (2011). SUGGESTION AND MODELING OF A NOVEL CAPSULAR MICROROBOT WITH SURFACE FORCES. JOURNAL OF MECHANICAL ENGINEERING AMIRKABIR (AMIRKABIR), 42(3), 1-8. SID. https://sid.ir/paper/165972/en

Vancouver: Copy

NADAFI D. B. R., KABGANIAN M.. SUGGESTION AND MODELING OF A NOVEL CAPSULAR MICROROBOT WITH SURFACE FORCES. JOURNAL OF MECHANICAL ENGINEERING AMIRKABIR (AMIRKABIR)[Internet]. 2011;42(3):1-8. Available from: https://sid.ir/paper/165972/en

IEEE: Copy

R. NADAFI D. B., and M. KABGANIAN, “SUGGESTION AND MODELING OF A NOVEL CAPSULAR MICROROBOT WITH SURFACE FORCES,” JOURNAL OF MECHANICAL ENGINEERING AMIRKABIR (AMIRKABIR), vol. 42, no. 3, pp. 1–8, 2011, [Online]. Available: https://sid.ir/paper/165972/en

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