TY - JOUR
T1 - A Development Study of a New Bi-directional Solenoid Actuator for Active Locomotion Capsule Robots
AU - Wu, Linlin
AU - Lu, Kaiyuan
N1 - Publisher Copyright:
© 2020 by the authors. Licensee MDPI, Basel, Switzerland.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020/5
Y1 - 2020/5
N2 - A new bi-directional, simple-structured solenoid actuator for active locomotion capsule robots (CRs) is investigated in this paper. This active actuator consists of two permanent magnets (PMs) attached to the two ends of the capsule body and a vibration inner mass formed by a solenoidal coil with an iron core. The proposed CR, designed as a sealed structure without external legs, wheels, or caterpillars, can achieve both forward and backward motions driven by the internal collision force. This new design concept has been successfully confirmed on a capsule prototype. The measured displacements show that its movement can be easily controlled by changing the supplied current amplitude and frequency of the solenoid actuator. To validate the new bi-directional CR prototype, various experimental as well as finite element analysis results are presented in this paper.
AB - A new bi-directional, simple-structured solenoid actuator for active locomotion capsule robots (CRs) is investigated in this paper. This active actuator consists of two permanent magnets (PMs) attached to the two ends of the capsule body and a vibration inner mass formed by a solenoidal coil with an iron core. The proposed CR, designed as a sealed structure without external legs, wheels, or caterpillars, can achieve both forward and backward motions driven by the internal collision force. This new design concept has been successfully confirmed on a capsule prototype. The measured displacements show that its movement can be easily controlled by changing the supplied current amplitude and frequency of the solenoid actuator. To validate the new bi-directional CR prototype, various experimental as well as finite element analysis results are presented in this paper.
KW - Bi-directional active locomotion
KW - Endoscopic capsule robots
KW - Robotic endoscopy
KW - Solenoid actuator
UR - http://www.scopus.com/inward/record.url?scp=85084237802&partnerID=8YFLogxK
U2 - 10.3390/electronics9050736
DO - 10.3390/electronics9050736
M3 - Journal article
AN - SCOPUS:85084237802
SN - 2079-9292
VL - 9
JO - Electronics (Switzerland)
JF - Electronics (Switzerland)
IS - 5
M1 - 736
ER -