Minglu Chi,∗ Yuanli Wang,∗ Jianxia Zhang,∗ Aimin Zhang,∗∗ Jingcai Bai,∗∗∗ and Junxiao Wu∗∗∗
Capsule robot, multiple bending environment, steeringcharacteristics, enclosed fluid environment
In an effort to achieve steering and driving stability for a capsule robot in enclosed multiple bending environment, this study proposes a discrete control strategy based on fluid resistance torsion moment- weaken effect, with lower torsion moment (LTM). The case of a petal- shaped capsule robot (PSR) is specifically studied, while a spatial total magnetic moment model, generated by the robot steering motion, is derived. The characteristics of the dynamic equilibrium between fluid moment outside the robot and total magnetic moment are studied based on the analysis of the unequal fluid medium thickness, inside enclosed multiple bending environment and a steering fluid dynamic pressure distribution model. A spatial steering swing equation is derived, while the response characteristics of spatial attitude angles and motion trail of the PSR are investigated, deriving the stability condition for steering. Experiments are conducted in bending environment to verify the validity and feasibility of the proposed scheme. Results show that the swing amplitude of the PSR can be reduced by increasing rotation speed and decreasing the magnetic flux density, which is beneficial to robot stability.
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