Title :
A design of the electromagnetic driver for the “internal force-static friction” capsubot
Author :
Su, Gang ; Zhang, Cheng ; Tan, Renjia ; Li, Hongyi
Author_Institution :
State Key Lab. of Robot., Chinese Acad. of Sci., Shenyang, China
Abstract :
A capsule robot that moves utilizing the internal force between the shell and the sliding mass and the friction between the shell and the environment is named "internal force-static friction" capsubot. The new driving mode is used in the active gastrointestinal examination robot system, which is a novel and meaningful attempt. In this paper, for the operation mechanism and movement characteristics of capsubot, a new type of electromagnetic driver has been designed. The driver is optimized and analyzed by magnetic circuit method and finite element method. Then we manufacture the prototype of the capsubot. The driver has big output power, a small size and a high weight proportion of the sliding mass and the shell, which has been proved by the experiment. The speed on the table is 45.8mm/s.
Keywords :
driver circuits; finite element analysis; magnetic circuits; medical robotics; microrobots; stiction; active gastrointestinal examination robot system; capsubot; capsule robot; electromagnetic driver; finite element method; internal force-static friction; magnetic circuit; microrobot; sliding mass; Circuit analysis; Driver circuits; Electromagnetic forces; Finite element methods; Friction; Gastrointestinal tract; Magnetic analysis; Magnetic circuits; Optimization methods; Robots;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354587
