Structural Design and Analysis of Magnetic Driven Coaxial Dual Propeller Capsule Robot

Aiming at the problem that the existing magnetic driven capsule robot is difficult to generate stable motion in open space, this paper proposes a magnetic driven coaxial dual propeller capsule robot. Its structure is mainly divided into three parts: 1) Shell; 2) Two spiral structures; 3) Transmission bevel gears. The shell can protect the intestines and reduce various resistance during operation. The two spiral structures rotate in opposite directions, with one embedded with a permanent magnet used to drive the water flow and propel the capsule robot forward. Bevel gears are used to drive the spiral structure without permanent magnets to rotate in the opposite direction to eliminate the applied torque. The COMSOL Multiphysics software was used to simulate the force acting on the capsule robot under magnetic drive, as well as the force and torque acting on the fluid during the rotation of the spiral structure.