Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : September 03, 2023 - September 06, 2023
In this research, an endoscope insertion device is studied for the purpose of automating colonoscopy. The insertion device must simultaneously perform axial forward/backward movement and rotation of the endoscope, and the use of a mecanum wheel in the insertion device will achieve this movement. However, since the mecanum wheel has only been used as a wheel for plane movement, it is necessary to clarify the relationship between the endoscope clamping force of the mecanum wheel, the feed force and speed, and the amount of movement of the endoscope itself. In this study, a simulation analysis of the feed rate was conducted, followed by experimental verification of the analysis results．
