Research on Rolling Locomotion Dynamics Characteristics of a Dual Hemispherical Capsule Robot Actuated by Rotating Magnetic Field

doi:10.3901/JME.2022.01.010

Abstract

Abstract: For diagnostic and therapeutic medical applications in some spacious spots of the gastrointestinal (GI) tract such as esophagus, stomach and colon and etc., the stable rolling locomotion of the dual hemisphere capsule robot should be required. To determine the response range of the posture angle by exploring the influence of the magnetic flux density, angular speed, damping coefficient on the rolling dynamic performance of the dual hemisphere capsule robot, the dynamic model of rolling locomotion is derived based on Lagrange equations and the follow-up effect of the magnetic field. The state transition matrix is further derived by the interval state transition matrix approximation algorithm. By analyzing the characteristic index of the state transition matrix, the critical and optimal control parameters for stable rolling locomotion are obtained. Finally, posture detection method for rolling locomotion of the robot based on laser system is proposed. The theoretical simulation and experimental results show that the decrease of the magnetic flux density and the increase of the angular velocity to some degree are usually beneficial to the enhancement of the dynamic stability of the robot, this dynamic characteristics provides a theoretical basis for stable rolling locomotion control of the robot inside the intestine.

Key words: dual hemisphere capsule robot, rolling locomotion dynamic model, dynamic stability, critical control parameters

CLC Number:

TP242

ZHANG Yongshun, JI Xuan, LIU Xu, LIU Guanxi, LIU Zhenhu. 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.

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