Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Design and Performance Evaluation of Impact Type Actuator Using Magnetic Force

자기력을 이용한 충격형 액추에이터의 설계 및 성능 평가

  • 민현진 (한국과학기술원 기계공학과) ;
  • 임형준 (한국과학기술원 기계공학과) ;
  • 김병규 (한국과학기술연구원 마이크로시스템센터) ;
  • 김수현 (한국과학기술원 기계공학과)
  • Published : 2002.07.01
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Abstract

For robotic endoscope, some researchers suggest pneumatic actuators based on inchworm motion. But, the existing endoscopes have not been replaced completely because human intestine is very sensitive and susceptible to damage. We design and test a new locomotion of robotic endoscope that allows safe maneuverability in the human intestine. The actuating mechanism is composed of two solenoids at each side and a single permanent magnet. When the current direction is reversed, repulsive force and attractive at the opposition side propels permanent magnet. Impact force against robotic endoscope transfers momentum from moving magnet to endoscope capsule. The direction and moving speed of the actuator can be controlled by adjustment of impact force. Modeling and simulation experiments are carried out to predict the performance of the actuator. Simulations show that force profile of permanent magnet is the dominant factor for the characteristic of the actuator. The results of simulations are verified by comparing with the experimental results.

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References

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