Characteristic evaluation of a wireless capsule microrobotic system

In this paper, we proposed a wireless capsule microrobotic system. The wireless capsule microrobotic system consists of a 3-axes Helmholtz coils and a wireless capsule microrobot. The wireless capsule microrobot is composed of a spiral outer shell and an o-ring type magnet. The length of wireless capsule microrobot is 20 mm and the width is 8 mm. The structure of wireless capsule microrobot is simple. The robot can suitable for multiple working environments with good stability. Total, the wireless capsule microrobot realizes multiple degrees of freedom motion by changing the current of the rotational magnetic field. Based on motion experiments, the main parameters are evaluated. The experimental results show that the wireless capsule microrobot of spiral motion has a maximum speed of 10.01 mm/s at 17 Hz in the horizontal plane and a maximum speed of 3.64 mm/s at 14 Hz in the vertical plane. The wireless capsule microrobot can turn around 90o and achieves accelerated motion, retarded motion and stopping in the three-dimensional space.