Self-contained Capsubot Propulsion Mechanism
- 期刊名字:国际自动化与计算杂志(英文版)
- 文件大小:
- 论文作者:M. Nazmul Huda,Hong-Nian Yu,Sa
- 作者单位:Faculty of Computing
- 更新时间:2023-02-26
- 下载次数:次
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.
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