Self-contained capsubot propulsion mechanism

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

Research output: Contribution to journalArticle

9 Citations (Scopus)

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. © 2011 Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.

Original languageEnglish
Pages (from-to)348-356
Number of pages9
JournalInternational Journal of Automation and Computing
Volume8
Issue number3
DOIs
Publication statusPublished - 12 Aug 2011

Keywords

  • Capsubot
  • capsule endoscopy
  • internal force and static friction
  • linear DC motor
  • propulsion

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Applied Mathematics

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