Dynamic Analysis and Simulation for a Bionic Intervention Robot
This paper deals with the kinematics and dynamics of a novel bionic micro-robot based on the gastropod's locomotion principle. Profit from using friction control module, this robot has the ability to run smoothly in the biological lumen with impulsive flowing liquid. The locomotion principle is verified by experiments, on this basis, a mechanical model using space operator algebraic (SOA) method has been established to analyze the robot's kinematics and dynamics in different environments by mission simulation. Tests and simulations provide strong proofs for the structure design and motion control of the robot.
C. X. Liu et al., "Dynamic Analysis and Simulation for a Bionic Intervention Robot", Advanced Materials Research, Vols. 308-310, pp. 2104-2109, 2011