The Swing Characteristics Of A Capsule Robot Driven In Curved Pipe

The research and development of capsule robot offers new technologies and modern medical standards, saves the hospital’s human resources, reduces the patient’s treatment cycle and pain, drop the cost of medical need down and shorten the rehabilitation needs of the time, development of Active control technology of Capsule robot further enhance the performance of the capsule robot so that it can be achieved in the human body to take the initiative forward, backward, attitude adjustment and point-of-spraying operation. This technology greatly improve the efficiency of the capsule robot. And it is of great significance for diagnosis and treatment technology. Triaxial Helmholtz coils to be able to generate a rotating magnetic field to put the capsule robot forward.Firstly, this paper describes a new capsule robot based on the multi-wedge effect theory and a rotating magnetic field generating device. The spiral ribs can provide capsule robot’s moment, the petal structure and olive shape of the protrusion can enhance the influence of wedge effect. These contribute to put robot forward in low-speed and non-contact. Triaxial Helmholtz coils can generate a rotating magnetic field to put the capsule robot forward.Secondly, we use attitude angle and Resal coordinate system to analysis spatial angular velocity. We also analysis the magnetic moment caused by rotating magnetic field generating device and the damping torque when robot is swinging. And damping torque data fitting is over.Thirdly, according to the moment of momentum theorem, we establish the swing equation when the capsule robot turn, analysis the capsule robot’s swing attitude angle and axis angle variation, verify that the capsule robot’ liquid torque, draw capsule robot space trajectory and analysis the time response of liquid torque and the magnetic moment when capsule robot is turning.At last, the experimental program the capsule robot turning is established. We verified the favorable and unfavorable factors which affect capsule robot t swing by experiment/. The results showed that the capsules robot should be in the case of high-speed when turning in pipe. low-corner. The capsule robot by experimental verification, different diameters were taken, and ultimately show that the theoretical analysis. We took different diameters to verify the theory of passing pipe, and the results show that the theory is true.