A Two-Screw Squirm Micro-Robot for Gastrointestine: Design and Experiments

Abstract:

This paper describes the design of a new prototype of a micro-robot for gastrointestine, which will avoid disadvantages of traditional endoscopes. After analyzing motion pattern of the robot, we decide to use two clamping mechanisms and a linear locomotion mechanism by simulating the squirm pattern of inchworm. Moreover, we make sure the mechanisms are operating effective and stable by using two-screw for transmission. After assembly process, the size of the robot is φ15.24mm×82.87mm, it can extend 9.06mm radically, axial pace is 13.8mm and therefore the theoretical speed is 0.86mm/s. Experimental tests show that the robot are capable of making movement under different environments effectively.

• Periodical: Applied Mechanics and Materials (Volumes 347-350)
• Pages: 376-382
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.347-350.376
• Online since: August 2013
• Authors: Quan Ke, Guo Zheng Yan, Wei Jie Luo, Wen Wen Chen
• Keywords: Effectiveness of Movement, Inchworm, Micro-Robot, Two-Screw

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