Design a New Worm-Type Mechanism of Mobile Robot Applicable in Colonoscopy

Abstract:

This paper presents a new mechanical design of mobile robot which can travel in the condition of continuous varying environment, such as colon of human body. Especially, the human colon environment contains an intense diameter change. The suggested mechanical design is capable to adapt in wide diameter changing system by generating two basic motions, rotational and linear motion, with a single actuator. Prototypes is fabricated, and tested result is presented in this paper. Also, experimental result is compared with the mathematical model of the mechanism to verify the feasibility of the proposed mechanism.

• Periodical: Applied Mechanics and Materials (Volumes 799-800)
• Pages: 1011-1015
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.799-800.1011
• Online since: October 2015
• Authors: Jae Hyun Park, In Ho Kim, Woong Hee Cho, Jung Wan Park, Hyun Seok Yang*
• Keywords: Continuous Varying Environment, Flexible Body, Medical Treatment Robot, Mobile Robot, Robotic Colonoscopy

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