Modelling, analysis and experiments of a screw propelling capsule robot Online publication date: Sat, 12-Jul-2014
by Huajin Liang; Yisheng Guan; Zhenneng Yin; Hong Zhang
International Journal of Mechanisms and Robotic Systems (IJMRS), Vol. 1, No. 2/3, 2013
Abstract: Active locomotion has been a challenge in the research and development of capsule endoscopies for diagnosis and therapy inside gastrointestinal tracts. As one prospective solution to the active locomotion of capsule robots, screw propelling has many important issues to be addressed in both theory and practice. In this paper, we build one- and two-dimensional models of screw propelling and make quantitative analysis to find the relationship between the axial thrust force and the geometric parameters of the screws, for optimal design of the actuation mechanism with high efficiency of propulsion. A few prototypes of the capsule robots are developed and a series of contrast experiments are conducted to verify the theoretical models and analysis. The effectiveness of active drive of capsule robots by screw propelling has been preliminarily shown by the experiments with the prototypes crawling in a tube.
Online publication date: Sat, 12-Jul-2014
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechanisms and Robotic Systems (IJMRS):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email email@example.com