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연구성과 > 금주의 우수논문

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SCI Article

Effective Locomotion and Precise Unclogging Motion of an Untethered Flexible-Legged Magnetic Robot f
성명 장건희()
소속 공과대학 기계공학부
캠퍼스
우수선정주 2018년 01월 3째주
Author Lee, Wonseo (Dept Mech Convergence Engn); Nam, Jaekwang (Dept Mech Convergence Engn); Kim, Jongyul (Dept Mech Convergence Engn); Jung, Eunsoo (Dept Mech Convergence Engn); 장건희 (Dept Mech Engn) corresponding author;
Corresponding Author Info Jang, G (reprint author), Hanyang Univ, Dept Mech Engn, Seoul 04763, South Korea.
E-mail 이메일 아이콘ghjang@hanyang.ac.kr
Document Type Article
Source IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS Volume:65 Issue:2 Pages:1388-1397 Published:2018
Times Cited 0
External Information http://dx.doi.org/10.1109/TIE.2017.2726973
Abstract We propose an untethered flexible-legged magnetic robot (FLMR) manipulated by an external rotating magnetic field (ERMF) to generate effective locomotion and precise unclogging motion to treat vascular diseases. The proposed FLMR is composed of a front body with a drill tip, a cylindrical permanent magnet, a rear body, and flexible legs. The flexible legs are obliquely attached to the bodies like blades of a propeller, so that the FLMR can generate propulsive force in a fluidic environment for locomotion and unclogging motions. To provide manipulation guidelines for locomotion and unclogging motions, we developed a dynamic model of propulsive force, axial force, and friction force, and we established a control method of propulsive force according to the rotating frequency of the ERMF and the diameter of the tube, based on the proposed dynamic model. Finally, we prototyped the FLMR and conducted several experiments to verify its navigation performances and the control method of the propulsive force. Also, we conducted an in vitro experiment with a pseudo blood clot to demonstrate the validity of the locomotion and unclogging motions of the FLMR.
Web of Science Categories Automation & Control Systems; Engineering, Electrical & Electronic; Instruments & Instrumentation
Funding National Research Foundation of Korea - Korean government (MSIP) [2015R1A2A1A05001837]
Language English
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