Structure optimization of the endoscopic robot ciliary leg based on dimensional analysis

Endoscopic robot propelled by ciliary legs is a new type in the endoscopic family. Composed by the ciliary leg locomotion modules, the robot presented in this paper is propelled by the rhythmic motion of the ciliary legs. Since the robot works in the complex intestinal environment which is full of viscous liquids, the friction between ciliary legs and intestinal tract becomes crucial for the locomotion of the robot. We investigate the mechanism of the friction with dimensional analysis. Three main dimensionless variables have been extracted from various factors affecting the friction coefficient between ciliary legs and intestinal tract. The study also carried out optimization of those three dimensionless variables via orthogonal test. Those optimization values can lead to the greatest friction coefficient.