Development of a reaction drive for a propulsion mechanism

A micro robot that can be swallowed with sensors to inspect the intestine without the need to cut open a patient must have a propulsion mechanism to direct it to the areas of interest. The use of a propulsion mechanism external to the pill could endanger the patient, what is proposed here is a method of propelling a micro (capsule) robot with an internal mechanism based on the inertia of a swinging mass. The dynamics and control issues of a pendulum-driven cart-pole system are similar to those of a capsule robot. Therefore, this paper reports an experimental study of a pendulum-driven cart-pole system. The experimental results demonstrate the proposed system.

[1]  K. Arai,et al.  Fabrication of magnetic actuator for use in a capsule endoscope , 2003 .

[2]  김병규,et al.  Design and fabrication of a locomotive mechanism for capsule-type endoscopes using shape memory alloys (SMAs) , 2003 .

[3]  權寧住,et al.  Mechatronics , 2019, CIRP Encyclopedia of Production Engineering.

[4]  Hongyi Li,et al.  A pendulum-driven cart via internal force and static friction , 2005, Proceedings. 2005 International Conference Physics and Control, 2005..

[5]  Sukho Park,et al.  An earthworm-like locomotive mechanism for capsule endoscopes , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.