用于在心脏上移动的移动机器人的改进牵引力。
Improved traction for a mobile robot traveling on the heart.
作者信息
Patronik N A, Ota T, Zenati M A, Riviere C N
机构信息
Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA.
出版信息
Conf Proc IEEE Eng Med Biol Soc. 2006;2006:339-42. doi: 10.1109/IEMBS.2006.259532.
This document describes the effects of several design parameters on the traction generated by the suction pads of a mobile robot that walks on the surface of the heart. HeartLander is a miniature mobile robot that adheres to the epicardial surface of the heart using suction, and can travel to any desired location on the heart to administer therapeutic applications. To maximize the effectiveness of locomotion, the gripper pads must provide sufficient traction to avoid slipping. Our testing setup measured the force applied to the gripper pad adhering to ovine epicardial tissue, and recorded overhead video for tracking of the pad and tissue during an extension. By synchronizing the force and video data, we were able to determine the point at which the pad lost traction and slipped during the extension. Of the pads tested, the pad with no suction grate achieved maximum traction. Increasing the extension speed up to 20 mm/s resulted in a corresponding increase in traction. Increasing the vacuum pressure also improved the traction, but the magnitude of the effect was less than the improvement gained from increasing extension speed.
本文档描述了几个设计参数对在心脏表面行走的移动机器人吸盘产生的牵引力的影响。HeartLander是一种微型移动机器人，它利用吸力附着在心脏的心外膜表面，并可以前往心脏上的任何所需位置进行治疗应用。为了使运动效果最大化，抓取垫必须提供足够的牵引力以避免打滑。我们的测试装置测量了施加在附着于羊心外膜组织的抓取垫上的力，并记录了头顶上方的视频，以便在伸展过程中跟踪垫子和组织。通过同步力和视频数据，我们能够确定垫子在伸展过程中失去牵引力并打滑的点。在测试的垫子中，没有吸气格栅的垫子获得了最大的牵引力。将伸展速度提高到20毫米/秒会导致牵引力相应增加。增加真空压力也改善了牵引力，但效果的幅度小于提高伸展速度所获得的改善。
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