Self-contained capsubot propulsion mechanism

Abstract

In this paper, a self contained capsubot (capsule robot) propulsion mechanism is investigated. The proposed capsubot works on the principle of internal force-static friction. A modified linear DC motor is used to drive the capsubot. A novel acceleration profile is proposed for the moving part (linear cylinder) based on the principle. A significant feature of the proposed capsubot is that it is legless, wheelless, and trackless. The developed capsubot with a proposed propulsion mechanism demonstrates a very good average velocity. The propulsion mechanism has the potential to be used for the propulsion of a wireless-controlled self-propelling capsule endoscope. Simulation and experimental results demonstrate the performance of the self-contained capsubot with the proposed acceleration profile.

Modelling and Motion Control of a Novel Double Parallel Mass Capsubot

“…In this paper simulation analysis of open loop control of IMs are performed for 2D motion of the capsubot. Following the control strategy described in Huda et al (2011), open loop control law for all the motion cases are:…”

“…In this context the researchers proposed a new type of capsubots based on the internal force-static friction principle which have no external legs and wheels and, thus suitable to be integrated with the WCE (Li et al (2006)). In Huda et al (2011), motion of a single mass capsubot is explained on the basis of a novel four-step acceleration profile and a stand-alone prototype is developed based on the profile. This profile is utilized in this paper.…”

A new autogenous mobile system driven by vibration without impacts, excited by an impulse periodic force

“…Using vibration-driven mechanism, several complications induced by external driving mechanism (wheels, chain tracks, or legs) can be avoided [8,9]. The vibration-driven locomotion systems have been widely investigated from many aspects, including modeling and theoretical analysis and control [10][11][12][13], design and experimental implementation [14][15][16][17]. Several experimental platforms have been developed, employing centripetal forces generated by platform-mounted vibration micro-motors [14], electromagnetic force induced in voice coil motor [15,16], centrifugal forces of a couple-pendulum [17].…”

“…The vibration-driven locomotion systems have been widely investigated from many aspects, including modeling and theoretical analysis and control [10][11][12][13], design and experimental implementation [14][15][16][17]. Several experimental platforms have been developed, employing centripetal forces generated by platform-mounted vibration micro-motors [14], electromagnetic force induced in voice coil motor [15,16], centrifugal forces of a couple-pendulum [17]. The common issue of such vibration-driven systems is that, a complex control for the inertial mass motion is necessary to obtain the desired progression of the system [10,15].…”