The Starting Of Multiple Olive Spiral Capsule Robots

With the development of society, robotics application is constantly expanding. From the automated production line to the exploration of marine resources as well as the areas of space operations, robot can be called everywhere. However, on the current level of technology in terms of robot, a single robot's ability is limited in access to information collecting, treatment and control, etc. So people consider the adoption of multi-robot coordination and collaboration to complete the work that a single robot can not or difficult to complete.In this paper, the olive spiral capsule micro-robot with variable radius is researched about its starting process under the control of external rotating magnetic field, analyzing the starting principle of the capsule robot, proposing the concept of starting rotating speed, and building the mathematical model about the viscous resistance of the front-end flowing liquid during the initial rotation. According to the balance equation that is produced by axial traction of liquid dynamic pressure and viscous resistance of the front-end flowing liquid, the starting rotating speed of the capsule robot can be derived. On this basis, we obtain the curves of the relationship about the structure parameters and starting rotating speed of the capsule robot.Further more, the multiple capsule robots operating system is studied, discussing the control mechanism of coordination and operation from the perspective of groups, to establish the control frame of a multiple robots operation. By designing the different structure parameters of the capsule robot, we can make the capsule robot controllable. On the basis of two or more Capsule robots working together, we can achieve the purpose of the capsule robot sharing control by controlling one single capsule robot to executive a mission. When the structural parameter of the capsule robot is different, the required starting rotating speed is different. The influences of these parameters of the capsule robot about starting rotating speed using MATLAB simulation are got. Finding the best several parameters impacting the capsule robot's starting for analysis, curves of capsule robot's starting process are got at the different parameter statuses. Then using particle swarm optimization algorithm, in the case of fixed starting rotating speed, it is achieved that the optimal design of various structural parameters of capsule robots.Through the control of group operation of multiple robots, the position of the robots inside tube with flexible and elastic wall can be achieved, and accomplish that the robots working in different positions at the same time. Thereby, reaching the purpose of reducing a large number of work time and improving work efficiency. The Experimental results confirmed the phenomenon of critical gap and starting rotating speed. The results show that only when the external rotating magnetic field reaches the starting rotating speed and the capsule robot reaches a critical gap, the swimming speed of the capsule robot will significantly increase, and the capsule robot will start under the control of external magnetic field.