Characteristic evaluation of a magnetic-actuated microrobot in pipe with screw jet motion

Wang, Zixu; Guo, Shuxiang; Fu, Qiang; Guo, Jian

doi:10.1007/s00542-018-4000-5

Cited by 18 publications

(11 citation statements)

References 17 publications

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“…The speed and frequency of the screw‐jet motion of the microbot can be precisely controlled by modifying the applied magnetic field, which is externally generated using three Helmholtz coils. [ 83 ]…”

Section: Magnetic Actuatorsmentioning

confidence: 99%

Actuation of Mobile Microbots: A Review

Hussein,

Damdam,

Ren

et al. 2023

Advanced Intelligent Systems

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Maturation of robotics research and advances in the miniaturization of machines have contributed to the development of microbots and enabled new technological possibilities and applications. Microbots have a wide range of applications, including the navigation of confined spaces, environmental monitoring, micro‐assembly and manipulation of small objects, and in vivo micro‐surgeries and drug delivery. Actuators are among the most critical components that define the performance of robots. A comprehensive review of the actuation mechanisms that have been employed in mobile microbots is provided, including piezoelectric, magnetic, electrostatic, thermal, acoustic, biological, chemical, and optical actuation, with a focus on the most recent development and methodologies.

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Section: Magnetic Actuatorsmentioning

confidence: 99%

Actuation of Mobile Microbots: A Review

Hussein,

Damdam,

Ren

et al. 2023

Advanced Intelligent Systems

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“…Wang et al [24] performed an analytical and experimental study in order to evaluate the characteristic influence of different structures on motion performance for a magneticactuated screw jet microrobot (SJM). While Fu et al [25] suggested a microbiotic system in the form of a magnetic capsule, consisting of a magnetically actuated micro robot with a screw jet mechanism, a driving system, and a positioning system.…”

Section: Introductionmentioning

confidence: 99%

A Novel Voice-Coil Actuated Mini Crawler for In-Pipe Application Employing Active Force Control With Iterative Learning Algorithm

Sabzehmeidani¹,

Mailah²,

Hing

et al. 2021

IEEE Access

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This study proposes the design and development of an in-pipe mini crawler (or robot) capable of performing its various tasks with the ability to reject undesired disturbances resulting from friction and viscosity, as it was modeled, simulated, and experimented using an iterative learning algorithm (ILA)-based active force control (AFC) strategy. The crawler motion was executed based on a rapid and successive pushpull action plus friction that causes the crawler to move in an earthworm-like manner using a linear voicecoil actuator (VCA). A novel self-adjusted mechanism was designed to ensure that the crawler remained concentric in the pipe as it slides along the inner surface of the pipe. A novel control strategy was also proposed consisting of the AFC-based controller cascaded with a proportional-integral-derivative (PID) controller to control the crawler movement and expel off the applied perturbations. An intelligent PD-type ILA was employed to automatically tune the AFC while online. For the validation part, a prototype was designed, developed, and later experimented with using the proposed technique for a given set of conditions. The system integration employed a hardware-in-the-loop (HIL) test configuration utilizing LabVIEW. Experimental results are in good agreement with the simulation counterpart, thereby indicating the practicality and feasibility of the control system in performing accurate and robust trajectory tracking. This shall serve as a good basis for designing more challenging tasks related to miniature crawling mechanism inpipe applications.

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“…Zhou et al used the computational fluid dynamics (CFD) method to calculate the translational speed and resistance torque of external spiral capsule robots with different thread shapes, line numbers, and lead [ 17 ]. Wang et al used finite element software to calculate and experimentally measure the fluid velocity at the pipe outlet under different thread parameters of an external spiral robot [ 18 ]. Zhang et al experimentally studied the translational speed and resistance torque of capsule robots with different thread structures under different oil film thickness [ 19 ].…”

Section: Introductionmentioning

confidence: 99%

Orthogonal Optimal Design of Multiple Parameters of a Magnetically Controlled Capsule Robot

et al. 2021

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Magnetically controlled capsule robots are predominantly used in the diagnosis and treatment of the human gastrointestinal tract. In this study, based on the permanent magnet method, magnetic driving and fluid measurement systems for in-pipe capsule robots were established. Using computational fluid dynamics (CFD) and particle image velocimetry (PIV), the fluid velocity and vorticity in the pipe of the capsule robot were calculated and measured. The running characteristics of the capsule robot were numerically analyzed in the curved pipe and the peristaltic flow. Furthermore, the range and variance method of orthogonal design was used to analyze the influence of four typical parameters (namely, pipe diameter, robotic translational speed, robotic rotational speed, and fluid viscosity) on the three operating performance indicators of the capsule robot (namely, the forward resistance of the robot, fluid turbulent intensity near the robot, and maximum fluid pressure to the pipe wall). In this paper, the relative magnitude and significance of the influence of each typical parameter on different performance indicators of the robot are presented. According to the different performance requirements of the robot, the different four parameter combinations are optimized. It is hoped that this work provides a reference for the selection of the appropriate mucus, translational speed, and rotational speed of the robot when it is working in pipes with different diameters.

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Characteristic evaluation of a magnetic-actuated microrobot in pipe with screw jet motion

Cited by 18 publications

References 17 publications

Actuation of Mobile Microbots: A Review

Actuation of Mobile Microbots: A Review

A Novel Voice-Coil Actuated Mini Crawler for In-Pipe Application Employing Active Force Control With Iterative Learning Algorithm

Orthogonal Optimal Design of Multiple Parameters of a Magnetically Controlled Capsule Robot

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