Affiliations: [a] School of Computer and Information Engineering, Yibin
University, Yibin, Sichuan, China | [b] School of Physics and Electronic Engineering, Mianyang
Normal University, Mianyang, Sichuan, China | [c] Ningbo Institute of Technology, Zhejiang University,
Ningbo, Zhejiang, China
Correspondence:
[*]
Corresponding author: Wan'an Yang, School of Computer and
Information Engineering, Yibin University, Yibin, Sichuan, China. Tel.: +86
0831 3545070; E-mail: ywaly@126.com
Abstract: In order to actively maneuver the robotic capsule and make it small
to swallow easily, we propose that the capsule incorporating the circuits,
batteries, imaging device, etc. is looped by a magnet ring with 1 mm thickness.
Another cuboidal or cylindrical permanent magnet attracts or pushes or rotates
the robotic capsule to make closer scrutiny for the interesting area. Before
designing the control system, the force regarding distance between cuboidal or
cylindrical magnet and magnet ring should be known in advance. The mathematic
model of magnetic force that the cuboidal or cylindrical permanent magnet
exerts on the magnet ring is given for that purpose. The experiments state that
the force the robotic capsule requires can be produced by cuboidal or
cylindrical magnet when it's moving forward in the pig's small bowel. The
experiments also show the relationships between the force and the shape of
cuboidal magnet or cylindrical magnet, which can help to choose the magnets
with optimal dimensions.
Keywords: Maneuver, robotic capsule, permanent-magnet ring, force model, optimal dimension
