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Magnetic propulsion performance of a compound spiral micro-robot applied in viscoelastic environment

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Abstract

In this paper, a novel robotic system in a viscoelastic intestine environment is described. It is about a magnetically actuated compound spiral robot (CoSbot), where an external master permanent magnet (MPM) is used to actively drive the robot, embedded with an internal slave permanent magnet. First, it has a compact structure with an integrated symmetric tile and two end caps. The integrated symmetric tile is comprised of four connected tiles with spiral ribs on the outside. This compound spiral outer structure could increase the hydrodynamic pressure, making the CoSbot suspend in the intestine with a non-contact posture. Second, since CoSbot is actuated by an external MPM, the robot can be further miniaturized without a loaded battery source, nor a complex actuation mechanism. Furthermore, an electromagnetic actuation system, to generate a rotational magnetic field controlling the stable motion velocity and axial force, is presented. Ex vivo contrast experiments have shown that CoSbot swims flexibly at a higher hydrodynamic pressure and suspended gesture.

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Data availability

The datasets generated and analyzed during the current study are available from the corresponding author on reasonable request.

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Funding

This work was supported by the Key Research Development and Promotion Special Project of Henan Province, under Grant 212102310119 and 212102210358, Higher Education Teaching Reform Research and Practice Project of Henan Province, under Grant 2021SJGLX288, 2021SJGLX289 and 2019SJGLX485, Educational and Teaching Reform Research and Practice Project of Henan Institute of Technology, under Grant 2021-YB023, JJXY-2021005 and 2019JG-ZD005, Scientific Research Foundation for High-level Talents of Henan Institute of Technology, under grant number KQ1869, Innovation and Entrepreneurship Training Program for College Students of Henan Province, under Grant 202211329011, 202111329014 and 202111329015, University-Industry Collaborative Education Program, under Grant 202101187010 and 202102120046, Innovative Education Curriculum Construction Project of Henan Institute of Technology, under Grant CX-2021-005, Research and Practice Project of Research Teaching Reform in Henan University, under Grant 2022-YGZD01. Key Project of 2021 in the 14th Five-year Plan of Education Science of Heilongjiang Province, under Grant GJB1421375.

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Authors and Affiliations

  1. School of Intelligent Engineering, Henan Institute of Technology, Xinxiang, 453003, Henan, China

    Minglu Chi, Yuanli Wang & Guomiao Zhang

  2. School of Electrical Engineering and Automation, Henan Institute of Technology, Xinxiang, 453003, Henan, China

    ShuaiBing Chang

  3. School of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Zhengzhou, 450002, Henan, China

    Huadong Zheng

  4. School of Economics, Henan Institute of Technology, Xinxiang, 453003, Henan, China

    Xiaoyan Qian

  5. School of Civil Engineering, Harbin University, Harbin, 150086, Heilongjiang, China

    Yue Ma

  6. Daqing Oilfield Downhole Operation Branch, Daqing, 163000, Heilongjiang, China

    Shaojie Wu

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  1. Minglu Chi
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  8. Guomiao Zhang
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Contributions

All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by ShuaiBing Chang, Huadong Zheng, Yuanli Wang, Xiaoyan Qian, Yue Ma, Shaojie Wu and Guomiao Zhang. The first draft of the manuscript was written by Minglu Chi, and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

Corresponding author

Correspondence to ShuaiBing Chang.

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Informed consent was obtained from all individual participants included in the study.

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Technical Editor: Adriano Almeida Gonçalves Siqueira.

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Chi, M., Chang, S., Zheng, H. et al. Magnetic propulsion performance of a compound spiral micro-robot applied in viscoelastic environment. J Braz. Soc. Mech. Sci. Eng. 45, 468 (2023). https://doi.org/10.1007/s40430-023-04376-7

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  • DOI: https://doi.org/10.1007/s40430-023-04376-7

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