자기력을 이용한 충격형 액추에이터의 설계 및 성능 평가

For robotic endoscope, some researchers suggest pneumatic actuators based on inchworm motion. But, the existing endoscopes have not been replaced completely because human intestine is very sensitive and susceptible to damage. We design and test a new locomotion of robotic endoscope that allows safe maneuverability in the human intestine. The actuating mechanism is composed of two solenoids at each side and a single permanent magnet. When the current direction is reversed, repulsive force and attractive at the opposition side propels permanent magnet. Impact force against robotic endoscope transfers momentum from moving magnet to endoscope capsule. The direction and moving speed of the actuator can be controlled by adjustment of impact force. Modeling and simulation experiments are carried out to prediet the performance of the actuator. Simulations show that force profile of permanent magnet is the dominant factor for the characteristic of the actuator. The results of simulations are verified by comparing with the experimental results.