Research on the resonant ciliary structure capsule endoscope robot

A kind of intestine endoscopic robot of resonant ciliary structure is proposed in the paper. The robot is simple-structured, driven by piezoelectric bimorph, a structure of unilateral burr surface array is designed, resonant and the non symmetry friction between flexible leg and the contact surface is used to drive the structure move ahead. The motion principles of robot have been given theoretical analysis and dynamic simulation, through theoretical analysis and experiments, the effectiveness of driving principle is proved. Experimental results show that when excitation voltage is 8 V and the angle of flexible leg is 60°, the moving rate of robot in the PVC plastic hose, whose diameter is 20 mm, can be up to 12 mm / s, in isolated intestinal it can move slowly. The speed test of endoscopic robot proved the validity of this theoretical analysis model.