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Swimming characteristics of a petal-shaped capsule robot with fluid resistance torsion moment-weaken effect

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Journal of the Brazilian Society of Mechanical Sciences and Engineering Aims and scope Submit manuscript

Abstract

In this paper, a symmetrical, totally 3D printed, Petal-shaped capsule robot (PCR), with fluid resistance torsion moment-weaken effect, is presented. The distribution of fluid dynamic pressure and torsion moment models on the outer surface of the PCR is established, while a constant swimming velocity mathematical model is derived, to describe the relationship between the pressure gradient and the swimming velocity. The higher the fluid dynamic pressure of the PCR is, the smaller the pressure gradient is. The fluid pressure gradient in the liquid-filled environment is the main reason for the full suspension of the PCR. In order to verify the relationship between the pressure gradient, fluid dynamic pressure and the PCR stable swimming velocity, a hand-held magnetic generator, and four novel capsule robot prototypes are developed. The experiments are performed in transparent acrylic pipes of different diameters. The results show that the torsion moment of the four capsule robots, each designed with different eccentricities, gradually decreases as the pipe diameter and eccentricity values increase. Under the same conditions, the rotating speed and constant swimming velocity of capsule robots A, B, C, and D increased successively, obeying the same law as the pressure gradient, which verified the important role of the fluid pressure gradient. The results fully describe the non-contact swimming motion of PCR, under the sole action of fluid dynamic pressure. The research on the characteristics of the pressure gradient poses a certain reference value for further improving the driving performance of capsule robots, specifically laying a foundation regarding their use for examination and medical operation in the non-structural environment of the GI (gastrointestinal) tract.

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Availability of data and materials

The datasets generated and analyzed during the current study are available from the corresponding author on reasonable request.

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Funding

This work was supported by the Key Research Development and Promotion Special Project of Henan Province, under Grant 212102310119 and 212102210358, Key Scientific Research Projects of Higher Education in Henan Province, under Grant 21A460031, Research and Practice Project of Higher Education Teaching Reform in Henan Province, under Grant 2019SJGLX485, University-Industry Collaborative Education Program, under Grant 201902155006, Scientific Research Foundation for High-level Talents of Henan Institute of Technology, under Grant KQ1869, Innovation and Entrepreneurship Training Program for College Students of Henan Province, under Grant 202011329002, 202011329003, 202011329008, 202011329009, Key Research Project of Xinxiang Social Science Association, under Grant 2020–145, Educational and Teaching Reform Research and Practice Project of Henan Institute of Technology, under Grant 2019JG-ZD005.

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Authors and Affiliations

  1. School of Intelligent Engineering, Henan Institute of Technology, Xinxiang, 453003, Henan, China

    Minglu Chi, Rongsheng Liu, Cheng Chang, Yuanli Wang, Xiaoyan Qian & Ruihua Ren

  2. School of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Zhengzhou, 450002, Henan, China

    Huadong Zheng

Authors
  1. Minglu Chi
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  2. Huadong Zheng
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  3. Rongsheng Liu
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  4. Cheng Chang
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  5. Yuanli Wang
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  6. Xiaoyan Qian
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  7. Ruihua Ren
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Contributions

All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by Huadong Zheng, Yuanli Wang, Xiaoyan Qian, Rongsehng Liu, Cheng Chang, and Ruihua Ren. The first draft of the manuscript was written by Minglu Chi, and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Huadong Zheng.

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Technical Editor: Rogerio Sales Gonclaves.

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Chi, M., Zheng, H., Liu, R. et al. Swimming characteristics of a petal-shaped capsule robot with fluid resistance torsion moment-weaken effect. J Braz. Soc. Mech. Sci. Eng. 43, 528 (2021). https://doi.org/10.1007/s40430-021-03261-5

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  • DOI: https://doi.org/10.1007/s40430-021-03261-5

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