TY - GEN
T1 - Analytical Magnetic Model towards Compact Design of Magnetically-driven Capsule Robot
AU - Hao, Yang
AU - Zhang, Peisen
AU - Bianchi, Federico
AU - Wu, Lei
AU - Li, Jing
AU - Ciuti, Gastone
AU - Huang, Qiang
AU - Dario, Paolo
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - 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.
AB - 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.
KW - compact design
KW - magnetic model
KW - magnetically-driven capsule robot
UR - http://www.scopus.com/inward/record.url?scp=85062079373&partnerID=8YFLogxK
U2 - 10.1109/CBS.2018.8612281
DO - 10.1109/CBS.2018.8612281
M3 - Conference contribution
AN - SCOPUS:85062079373
T3 - 2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
SP - 245
EP - 249
BT - 2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
Y2 - 25 October 2018 through 27 October 2018
ER -