Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Analysis for Movement Characteristics of Pneumatic Impulsive Actuator for Robotic Colonoscope

내시경용 로봇을 위한 공압구동기의 운동특성 해석

  • Published : 2002.08.01
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Abstract

A novel locomotion using the pneumatic impulsive actuator was proposed for robotic colonoscope. This locomotion showed good moving performance in the environment of rigid pipe, however, the displacement per one impact(step displacement) is greatly reduced due to the low stiffness and high damping characteristics of the colon. Therefore, the modeling technique based on spring and damping system is studied to predict the step displacement and some parametric studies are carried out to investigate main parameters that influence the step displacement of locomotion. Based on simulation result, a new locomotion to control the resistance force is suggested and fabricated. Through the experiment on the colon, the usefulness of modeling technique is confirmed and successful improvement of moving characteristics is achieved.

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References

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