대장 내시경을 위한 자기충격 액츄에이터Magnetic Impact Actuator for Robotic Endoscope

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For robotic endoscope, some researchers suggest pneumatic actuators based on inchworm motion. But, the existing endoscopes are not seemed to be replaced completely because human intestine is very sensitive and susceptible to damage. We design and test a new locomotion of robotic endoscope able to maneuver safely in the human intestine. The actuating mechanism is composed of two solenoids at each side and a single permanent magnet. When the current direction is reversed, repulsive force and attractive at the opposition side propels permanent magnet. Impact force against robotic endoscope transfer momentum from moving magnet to endoscope capsule. The direction and moving speed of the actuator can be controlled by adjusting impact force. Modeling and simulation experiments are carried out to predict the performance of the actuator. Simulation experiments show that force profile of permanent magnet is the dominant factor for the characteristic of the actuator. The results of simulations are verified by comparing with the experimental results.
Publisher
한국정밀공학회
Issue Date
2001
Language
KOR
Citation

한국정밀공학회 춘계학술대회, v.1, pp.839 - 843

URI
http://hdl.handle.net/10203/137270
Appears in Collection
ME-Conference Papers(학술회의논문)
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