Characteristic Evaluation of the Shell Outlet Mechanism for a Magnetic-Actuated Screw Jet Microrobot in Pipe

This paper carried out series of simulations and experiments for the characteristic evaluation of a Magnetic Actuated Screw Jet Microrobot (SJM), we can get the conclusion and contribution of the best characteristic of shell outlet by this paper, and make a great progress of microrobot design by analyzing the results. The first part in this paper is some information about background and related research of the capsule microrobots, there are some problems or disadvantages of proposed microrobots also the design concept of our research will be put forward, as for the second section, it is introducing the structure design of SJM, we will show the details and give the research purpose of this paper. Then we will introduce the 3-axis Helmholtz coils, it is the power module in this research, the driving principle and propulsive force theory are also been shown in this section. Finally, the last part is about simulation setup and experiment of outlet size, combining the simulation results and experimental results, we will discuss the optimal choice of the design by the simulation in an ideal environment and the comparison of experimental results.