• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.652-655
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• 2003

This paper is about the recent development of the magnetic impact actuator for endoscope. The developed magnetic impact actuator has many problems to arrange in the system body. Because the magnetic impact actuator need a permanent magnet as an impacter, so the magnetic interference among magnets can not be eliminated. This interference causes the system size bigger. We need a new actuator design to solve these problems. One of the good solutions is to use the closed electro-magnetic circuit. This kind of circuit enhances the actuators to be independent. It is written about the design of the electro-magnetic circuit and simulation using Maxwell(version 9.0)

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.7
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• pp.1438-1445
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• 2002

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.