Design and Performance Evaluation of the Novel Multi-modular Capsule Robot

Due to the robots are limited in size and cannot be attached to more functions, which caused the practicality of the robot being reduced. In order to achieve the information collection and multipoint drug delivery in the intestinal tract. This paper proposed the novel multi-modular robot driven by the external magnetic field. This robot system has two robots, namely the master robot and the auxiliary robot. The control system of the robot including the driven system, video acquisition and modular docking and separation of the robots. We realized the separation of the capsule robot by the difference of the cut-off frequency. The axial magnetized magnet is put into the robot, and when the robot is close, the two robots can combine. And the motion of the two at low frequency is consistent, which can realize the synchronous motion. Finally, the two robots can realize active locomotion using a three-axis Helmholtz coils system. The developed capsule robot can be used to improve the capsule robot system and help people do experiments in vivo in the future.