Modeling Soft Material Adhesion for In vivo Robotic Locomotion
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Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2099.1/22541
Tutor / directorRentschler, Mark
Tipus de documentProjecte/Treball Final de Carrera
Data2013
Condicions d'accésAccés obert
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Abstract
In a continued effort to develop an active Robotic Capsule Endoscope (RCE), research is
being conducted on the motion of the RCE through the small and large bowel. One of the factors
in
uencing the motion of the RCE is the adhesion of the RCE's micropatterned treated wheels to
the inner lumen of bowel tissue. While adhesion is needed to generate traction, too much adhesion
can also cause malfunctioning of the device, reduce autonomy and damage the tissue. This study
is focused on the characterization of adhesion as a function of three critical RCE design parameters
(Pre-load, Dwell Time and Separation Rate).
In this work, a method for adhesion characterization is detailed and a complete model for
the adhesion between a cylindrical probe with a smooth polydimethlysiloxane (PDMS) surface
and synthetic tissue is presented. An explicit nondimensional model for the adhesive response is
constructed with an R2 value of 0.9996 and a maximum relative error less than 5.6%. In addition,
physical meaning of the proposed mathematical model is experimentally verified. Accurate models
for the maximum stress supported by the tissue (R2 = 0:9895, maximum error = 2:04%), effective
adhesion energy consumed in the separation (R2 = 0:9936, maximum error = 3:23%) and the
total probe displacement from the beginning of the adhesion region to the point where complete
separation occurs (R2 = 0:9964, maximum error = 1:47%) as a function of critical design parameters
are obtained. Finally, a qualitative approach to the extrapolation of these models when varying
the substrate stiffness and probe area is presented.
TitulacióENGINYERIA INDUSTRIAL (Pla 1994)
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PFC_Joan_Ortega_Alcaide.pdf | Report | 18,17Mb | Visualitza/Obre |