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A model is first built for predicting the velocity-dependent frictional resistance of a capsule robot that moves inside the intestine in the paper. The capsule robot plays a more and more important role in checking diseases in the intestine. This study aims to optimize the locomotion mechanism and the control strategy of the capsule robot. The model consists of three parts: environmental resistance,...
Active capsule robots are studied widely all over the world, and various prototypes have been devised, e.g. the “internal force-static friction” capsule robot. During the previous research on this capsubot, we have found that the intestine's resistance characteristic is of great importance to both the design and motion control of the capsubot, however, there are very few studies on the viscoelasticity...
A capsule robot that moves utilizing the internal force between the shell and the sliding mass and the friction between the shell and the environment is named "internal force-static friction" capsubot. The new driving mode is used in the active gastrointestinal examination robot system, which is a novel and meaningful attempt. In this paper, for the operation mechanism and movement characteristics...
The article presents a helpful trial on the design of capsule robots' actuators. A harmless, controllable driving mechanism is proved promising both by finite element analysis and by experiments in reality. In brief, the distinct actuator has obvious advantages when applied to practice, and provides an encouraging, effective chance to machinize the capsule robot.
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