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首页> 外文会议>Proceedings of the 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics >Locomotion characteristics of foxtail and foxtail type robot according to acting force
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Locomotion characteristics of foxtail and foxtail type robot according to acting force

机译：狐尾和狐尾型机器人根据作用力的运动特性

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摘要

A foxtail moves forward when it is pushed by vertical force on flat surface. We could observe that moving distance of a foxtail depends on amount of deflection of a foxtail. In order to mimic a foxtail type robot effectively, we experimentally investigate moving distance of a foxtail according to pushing force, pushing area, and pushing velocity. Then, theoretical analysis on displacement of a nylon barb which related to acting force and deflection are performed. The theoretical result is compared to that of experimental result. Based on the aforementioned study, we fabricated a foxtail type robot. In order to suggest some design parameters of the fabricated foxtail robot, we investigate the relation between displacement and angle of the barb of the robot. Considering locomotion environment of the blood vessel and weight of robot, we suggest range of interaction force between in-body magnet and external magnet that can give 60% displacement of barb's length.
机译：狐尾在平面上被垂直力推动时会向前移动。我们可以观察到，狐尾的移动距离取决于狐尾的偏转量。为了有效地模仿狐尾型机器人，我们根据推力，推动面积和推动速度，通过实验研究了狐尾的移动距离。然后，对尼龙倒钩的位移进行了理论分析，该位移与作用力和挠度有关。将理论结果与实验结果进行比较。基于上述研究，我们制造了狐尾型机器人。为了提出装配式狐尾机器人的一些设计参数，我们研究了机器人倒钩的位移与角度之间的关系。考虑到血管的运动环境和机器人的重量，我们建议在体内磁体和外部磁体之间的相互作用力范围可以使倒钩的长度发生60％的位移。

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