Self-contained capsubot propulsion mechanism

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

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.

Citation

Huda, M. N., Yu, H., & Wane, S. O. (2011). Self-contained capsubot propulsion mechanism. International Journal of Automation and Computing, 8(3), 348-356. https://doi.org/10.1007/s11633-011-0591-3

• 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
• DOI: https://doi.org/10.1007/s11633-011-0591-3
• Keywords: Capsubot, internal force and static friction, linear DC motor, propulsion, capsule endoscopy
• Public URL: http://researchrepository.napier.ac.uk/Output/2880441