Sliding and Rolling Mechanism of a Dual Hemisphere Capsule Robot

doi:10.3901/JME.2023.23.087

Abstract

Abstract: In order to realize the precise transposition control of the double hemisphere capsule robot(DHCR), the DHCR must have the function of slow transposition. However, the DHCR, which moves slowly at small rotational speed in a non-fluid environment, is likely to be interfered by scraggy surface of the gastrointestinal tract, thus precise transposition control of the DHCR can't be achieved due to some problems such as unstable posture of the DHCR. Therefore, a sliding and rolling drive strategy of the DHCR in the fluid environment is proposed, in which, the DHCR is idling at high speed to achieve stable attitude control, and the sliding motion is used to realize the slow and precise transposition of the capsule. Based on the low Reynolds number fluid theory and the elastohydrodynamic lubrication theory, the fluid force and torque against the DHCR when it is sliding on the surface of the stomach wall were calculated, and the sliding driving dynamics model is established. The characteristics of its transposition speed were analyzed. The simulation and experimental results show that it is feasible to realize the slow transposition function of the DHCR by using the sliding-roll driving strategy in the low Reynolds number fluid environment. The transposition speed can be precisely controlled by changing the control parameters, and the transposition accuracy of the DHCR is significantly improved. This research provides a theoretical basis for improving the dynamic performance of capsule by aid of fluid environment.

Key words: capsule robot, low Reynolds number, sliding-rolling motion, dynamic performance

CLC Number:

TP242

ZHANG Yongshun, XING Lijun, DONG Hai, MA Yulin. Sliding and Rolling Mechanism of a Dual Hemisphere Capsule Robot[J]. Journal of Mechanical Engineering, 2023, 59(23): 87-95.

References

[1] CIUTI G，CALIO R，Camboni D，et al. Frontiers of robotic endoscopic capsules:A review[J]. Journal of Micro-Bio Robotics，2016，11(1):1-18.
[2] Luca E，Lucia S，Eugenio T G，et al. Clinical impact of videocapsule and double balloon enteroscopy on small bowel bleeding:Results from a large monocentric cohort in the last 19 years[J]. Digestive and Liver Disease，2022，54(2):251-257.
[3] Toennies J L，Tortora G，Simi M，et al. Swallowable medical devices for diagnosis and surgery:The state of the art[J]. Proceedings of the Institution of Mechanical Engineers，Part C:Journal of Mechanical Engineering Science，2010，224(7):1397-1414.
[4] Kim S，Choi H，Keum B，et al. Robotics in gastrointestinal endoscopy[J]. Applied Sciences，2021，11(23):11351-11351.
[5] Fredy M，Gursel A，Hao Z，et al. Analysis of magnetic interaction in remotely controlled magnetic devices and its application to a capsule robot for drug delivery[J]. IEEE/ASME Transactions on Mechatronics，2018，23(1):298-310.
[6] ZHang Yongshun，CHI Minglu，SU Zhongkan. Critical coupling magnetic moment of a petal-shaped capsule robot[J]. IEEE Transactions on Magnetics，2016，52(1):1-9.
[7] Yim S，Sitti M. Design and rolling locomotion of a magnetically actuated soft capsule endoscope[J]. IEEE Trans. Robotics，2012，28(1):183-194.
[8] 张永顺，周华涛，张林霞，等. 一种新型双半球形胶囊机器人[J]. 机械工程学报，2017，53(15):110-118. ZHANG Yongshun，ZHOU Huatao，ZHANG Linxia，et al. A new kind of dual hemisphere capsule robot[J]. Journal of Mechanical Engineering，2017，53(15):110-118.
[9] YANG Huiyuan，ZHANG Yongshun，LIU Zhenhu，et al. Posture dynamic modeling and stability analysis of a magnetic driven dual-spin spherical capsule robot[J]. Micromachines，2021，12(3):238-238.
[10] 张永顺，纪璇，刘旭，等. 磁驱动双半球胶囊机器人滚动动态性能研究[J]. 机械工程学报，2022，58(1):10-18. ZHANG Yongshun，JI Xuan，LIU Xu，et al. Research on rolling locomotion dynamics characteristics of a dual hemispherical capsule robot actuated by rotating magnetic field[J]. Journal of Mechanical Engineering，2022，58(1):10-18.
[11] Jiang Xi，Pan Jun，Li Zhaoshen，et al. Standardized examination procedure of magnetically controlled capsule endoscopy[J]. VideoGIE，2019，4(6):239-243.
[12] Cai Zhuocong，Fu Qiang，Zhang Songyuan，et al. Characteristic analysis of a magnetically actuated capsule microrobot in medical applications[J]. IEEE Transactions on Instrumentation and Measurement，2022，71(1):1-11.
[13] ZHang Chen，Liu Hao，Tan Renjia，et al. Modeling of velocity-dependent frictional resistance of a capsule robot inside an intestine[J]. Tribology Letters，2012，47(2):295-301.
[14] Bhattacharya S，Mishra C，Bhattacharya S. Analysis of general creeping motion of a sphere inside a cylinder[J]. Journal of Fluid Mechanics，2010，642:295-328.
[15] Caldag H O，Demir E，Yesilyurt S. A numerical and experimental investigation of rolling and sliding motion of rotating spheres inside a cylinder[J]. Journal of Fluid Mechanics，2022，935:A9.
[16] Cox R J，Brenner H. The slow motion of a sphere through a viscous fluid towards a plane surface-Ⅱ，small gap width，including inertial effects[J]. Chemical Engineering Science，1967，22(12):1753-1777.
[17] Jeffery G B. On the steady rotation of a solid of revolution in a viscous fluid[J]. Proceedings of the London Mathematical Society，1915，14(1):327-327.
[18] Goldman A J，Cox R G，Brenner H. Slow viscous motion of a sphere parallel to a plane wall-Ⅰ motion through a quiescent fluid[J]. Chemical Engineering Science，1967，22(4):637-651.
[19] 温诗铸，黄平，田煜，等. 摩擦学原理[M]. 5版. 北京:清华大学出版社，2018. WEN Shizhu，HUANG Ping，TIAN Yu，et al. Principles of tribology[M]. 5th ed. Beijing:Tsinghua University Press，2018.
[20] 严宗毅. 低雷诺数流理论[M]. 北京:北京大学出版社，2002. YAN Zongyi. Low Reynolds number hydrodaynamics[M]. Beijing:Peking University Press，2002.
[21] Wang S，Ardekani A M. Unsteady swimming of small organisms[J]. Journal of Fluid Mechanics，2012，702:286-297.
[22] HONDA T，ARAI K I，ISHIYAMA K. Micro swimming mechanisms propelled by external magnetic fields[J]. IEEE Transactions on Magnetics，1996，32(5):5085-5087.
[23] 雷昊，杨海容，朱牧，等. 应用于红外制导武器的动力随动陀螺误差分析[J]. 上海航天，2017，34(1):86-91. Lei Hao，Yang Hairong，Zhu Mu，et al. Errors analysis of dynamical servo gyro in IR guided weapons[J]. Aerospace Shanghai，2017，34(1):86-91.
[24] ZHANG Yongshun，YU Zichun，YANG Huiyuan ，et al. Orthogonal transformation operation theorem of a spatial universal uniform rotating magnetic field and its application in capsule endoscopy[J]. Science China Technological Sciences，2017，60(6):854-864.