TY - GEN
T1 - Locomotion characteristics of foxtail and foxtail type robot according to acting force
AU - Lee, Minsu
AU - Kim, Yeonghyeok
AU - Lim, Sanghuyck
AU - Park, Jongoh
AU - Park, Sukho
AU - Kim, Byungkyu
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=78650341322&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2010.5627752
DO - 10.1109/BIOROB.2010.5627752
M3 - Conference contribution
AN - SCOPUS:78650341322
SN - 9781424477081
T3 - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
SP - 604
EP - 609
BT - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
T2 - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Y2 - 26 September 2010 through 29 September 2010
ER -