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Effect of operating parameters of a magnetically controlled spiral capsule robot on its performance

Published online by Cambridge University Press:  18 October 2021

Liang Liang Open the ORCID record for Liang Liang [Opens in a new window] ,
Puhua Tang ,
Yu Liu  and
Yan Xu
Liang Liang
Affiliation:
College of Electromechanical Engineering, Changsha University, Changsha, 410022, China
Puhua Tang
Affiliation:
College of Electromechanical Engineering, Changsha University, Changsha, 410022, China
Yu Liu
Affiliation:
College of Electromechanical Engineering, Changsha University, Changsha, 410022, China
Yan Xu*
Affiliation:
College of Electromechanical Engineering, Changsha University, Changsha, 410022, China
*
*Corresponding author. E-mail: xuyan20210422@126.com
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Abstract

A magnetically controlled spiral capsule robot is designed. When the robot is running in a pipe filled with mucus, computational fluid dynamics is used to analyze the fluid field (velocity, streamlines, and vorticity) in the pipe, and particle image velocimetry is used to measure the above fluid field surrounding the robot. The measured fluid field is basically similar to the numerical result. The relationship between the operating parameters of the robot and the performance of the robot is further calculated and analyzed. The results show that the resistance to the robot in the forward direction, average turbulent intensity of the fluid surrounding the robot, and maximum fluid pressure to the pipe wall are proportional to the robotic translational speed. The resisting moment of the robot in the forward direction, average turbulent intensity of the fluid surrounding the robot, and maximum fluid pressure to the pipe wall are proportional to the robotic rotational speed.

Keywords

Spiral capsule robotCFD (computational fluid dynamics)PIV (particle image velocimetry)Operating parameterVorticity
Type
Research Article
Information
Robotica , Volume 40 , Issue 6 , June 2022 , pp. 1939 - 1950
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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