Suggestion and Modeling of a Novel Capsular Microrobot with Surface Forces

For developing of endoscopic Capsular, a design of legged capsular microrobot with ionic polymer metal composite actuator is suggested in this paper. First locomotion of microrobot is explained then microrobot is modeled by envisage exerting surface forces and microactuator. Surface forces contain slip-friction, surface adhesion and resting adhesion and polymeric microactuator is ionic polymer metal composite. Time variant response of polymeric microactuator is modeled fundamental of coupled electromechanical equation and electric equivalent bulk gel polymeric.
Result simulation of dynamical model microrobot shows that best installation angle of legs is 60 degree, proper mass of microrobot is 2g and speed marching is 1 millimeter per second.