A Screw Propelling Capsule Robot

摘要：

This paper presents a novel approach to active capsule robot,traversing in a tubular and compliant environment containing solid-liquid mixture.One of the application fields is active capsule endoscopy intended to navigate inside the gastrointestinal tract for diagnosis and therapy.This robot is driven by a screw impeller,which converts rotation to axial motion in two ways:one is through fluid dynamic pressure with fluid film generated hydrodynamically; the other is through direct contact with the mucosal folds and food residue on the intestinal wall.In this paper,the design and fabrication of the capsule robot are presented in brief.A preliminary theoretical model for the working principle of the robot is built,considering both the hydrodynamic effect and the direct contact.In addition,a series of in vitro tests were carried out with several prototypes to verify the locomotion ability of the robots.

作者: Huajin Liang Yisheng Guan Zhiguang Xiao Chao Hu Zhiyong Liu

作者单位: Biomimetic and Intelligent Robotics Lab (BIRL) School of Mechanical and Automotive Engineering,South Biomimetic and Intelligent Robotics Lab (BIRL) School of Mechanical and Automotive Engineering,South Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences,Shenzhen,China,518067 The Chi

会议类型: 国际会议

会议名称: 第八届IEEE信息与自动化国际会议(ICIC 2011)

会议地点: 深圳

会议语种:英文

页码: 786-791

在线出版日期: 2011-06-06（万方平台首次上网日期，不代表论文的发表时间）