| 张诚,刘浩,苏刚,谭人嘉,李洪谊.基于五元件模型的小肠动态粘弹特性研究[J].高技术通讯(中文),2012,22(9):964~968 |
| 基于五元件模型的小肠动态粘弹特性研究 |
| Research of intestines’ dynamic viscoelasticity based on five element model |
| 修订日期：2011-09-01 |
| DOI： |
| 中文关键词: 动态粘弹特性， 五元件模型， 小肠， 振动， 过阻尼 |
| 英文关键词: dynamic viscoelasticity, five element model, intestine, vibration, overdamping |
| 基金项目:863计划（2009AA04Z210）和机器人学国家重点实验室独立课题（2009 Z06）资助项目 |
| 作者 | 单位 | | 张诚 | 中国科学院沈阳自动化研究所；中国科学院研究生院 | | 刘浩 | 中国科学院沈阳自动化研究所 | | 苏刚 | 中国科学院沈阳自动化研究所 | | 谭人嘉 | 中国科学院沈阳自动化研究所；中国科学院研究生院 | | 李洪谊 | 中国科学院沈阳自动化研究所 |
|
| 摘要点击次数: 2754 |
| 全文下载次数: 2136 |
| 中文摘要: |
| 进行了小肠动态粘弹特性的研究，应用五元件模型描述了小肠材料的松弛过程，得到了小肠材料的粘弹性本构方程。搭建了物理仿真平台，设计了负压吸附夹具，进行了小肠剪切松弛实验，实验验证了模型的有效性并进行了模型参数辨识。将该模型应用于振动式胶囊机器人，根据机器人的运动参数研究了小肠在一定频率下的动态粘弹性，得到了以下结论：五元件模型可以很好地拟合小肠材料松弛过程；小肠材料本构方程参数不是固定的而是随应变变化的；在胶囊自由振动过程中，整个系统呈现过阻尼状态，即非往复的衰减运动。 |
| 英文摘要: |
| This paper presents the research on intestines’ dynamic viscoelasticity (DV). The relaxation process of an intestine material was described using the five element model (FEM), and the viscoelastic constitutive equation of the material was obtained. A physical simulation platform was constructed and a fixture was developed according to the negative pressure adsorption principle to perform the material’s shear relaxation test. The FEM’s effectiveness was verified and the model’s parameters were obtained through the experiment. Then the model was applied to a vibratory capsule robot and the intestine’s DV at a certain frequency was obtained according to the motion parameters of the capsule robot. The paper comes to three conclusions. First, the FEM fits well into modeling the shear relaxation process. Second, the parameters of the intestine’s viscoelastic constitutive equation are not constant, but changes with strain. Third, when the capsule robot makes a free vibration, the whole system is in an overdamping condition, which means that the capule robot moves damped with no reciprocation. |
|
查看全文
查看/发表评论 下载PDF阅读器 |
| 关闭 |
|
|
|
