Analytical Magnetic Model towards Compact Design of Magnetically-driven Capsule Robot

Yang Hao, Peisen Zhang, Federico Bianchi, Lei Wu, Jing Li*, Gastone Ciuti, Qiang Huang, Paolo Dario

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

This study proposes an innovative compact design of a magnetically-driven capsule robot, which embeds an internal permanent magnet (IPM) with a cut-off cylindrical shape, to increase the effectiveness of the internal space distribution. After identifying the second central moment as the evaluation parameter of the efficient distribution of the capsule robot's internal space, three different IPM configurations were compared. Then, the analytical magnetic forces and torques model of the cut-off cylinder-shaped design has been reported and validated by comparison of the analytical model, developed in MATLAB, with the model developed in COMSOL Multiphysics. The comparative results show that the cut-off cylinder-shaped magnet design guarantees a more efficient distribution of the internal space in all analysed cases, and the total mean error of the cut-off cylinder-shaped analytical magnetic model is less than 10%. In conclusion, the cut-off cylinder-shaped magnet compact design increases the efficiency of the distribution of the capsule internal space and the proposed model guarantees sufficient precision and great flexibility to justify its use.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages245-249
Number of pages5
ISBN (Electronic)9781538673553
DOIs
Publication statusPublished - 2 Jul 2018
Event2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018 - Shenzhen, China
Duration: 25 Oct 201827 Oct 2018

Publication series

Name2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018

Conference

Conference2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
Country/TerritoryChina
CityShenzhen
Period25/10/1827/10/18

Keywords

  • compact design
  • magnetic model
  • magnetically-driven capsule robot

Fingerprint

Dive into the research topics of 'Analytical Magnetic Model towards Compact Design of Magnetically-driven Capsule Robot'. Together they form a unique fingerprint.

Cite this