Nazmul Huda, Hong-Nian Yu and Samuel Oliver. Self-contained Capsubot Propulsion Mechanism. International Journal of Automation and Computing, vol. 8, no. 3, pp. 348-356, 2011. DOI: 10.1007/s11633-011-0591-3
Citation: Nazmul Huda, Hong-Nian Yu and Samuel Oliver. Self-contained Capsubot Propulsion Mechanism. International Journal of Automation and Computing, vol. 8, no. 3, pp. 348-356, 2011. DOI: 10.1007/s11633-011-0591-3

Self-contained Capsubot Propulsion Mechanism

  • In this paper, a self contained capsubot (capsule robot) propulsion mechanism is investigated. The proposed capsubot works on the principle of internal force-static friction. A modified linear DC motor is used to drive the capsubot. A novel acceleration profile is proposed for the moving part (linear cylinder) based on the principle. A significant feature of the proposed capsubot is that it is legless, wheelless, and trackless. The developed capsubot with a proposed propulsion mechanism demonstrates a very good average velocity. The propulsion mechanism has the potential to be used for the propulsion of a wireless-controlled self-propelling capsule endoscope. Simulation and experimental results demonstrate the performance of the self-contained capsubot with the proposed acceleration profile.
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