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Self-contained capsubot propulsion mechanism

Huda, M. Nazmul; Yu, Hong-Nian; Wane, Samuel Oliver


M. Nazmul Huda

Samuel Oliver Wane


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.

Journal Article Type Article
Online Publication Date Aug 12, 2011
Publication Date 2011-08
Deposit Date Jun 18, 2022
Journal International Journal of Automation and Computing
Print ISSN 1476-8186
Electronic ISSN 1751-8520
Publisher Springer
Peer Reviewed Peer Reviewed
Volume 8
Issue 3
Pages 348-356
Keywords Capsubot, internal force and static friction, linear DC motor, propulsion, capsule endoscopy
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