Mechanical Engineering Science

A Novel Dual Helical Magnetorheological Fluid Micro-Robot

LIZhixiang, CHIMinglu, CHANGShuaibing, QIANXiaoyan, JIAJiawen, LIJianbo, WANGChenyu, GUOZuhua


To address the problem of flexible drive control of gastrointestinal (GI) tract micro-capsule robot posture, a novel dual helix magnetorheological fluid (MRF) micro-robot (DHMRFMR) is proposed and developed in this paper. Based on the mechanical properties of magnetorheological fluid, the relationship model of magnetic field force is obtained, and the thrust model is established. Double micro DC deceleration motor is used to drive the two ends of the helical actuator to make the DHMRFMR forward and backward, by changing the external magnetic field rotation speed, direction and distance, adjust the attitude direction of the robot. Numerical simulation software ANSYS is used to analyze the motion law of external fluid of DHMRFMR, and the visualization of fluid velocity and pressure distribution is realized. The front-end helix actuator can change the flow path of the fluid, and the middle and tail of the DHMRFMR bear less pressure, which improves the stability and flexibility of the robot. The novel DHMRFMR is suitable for internal drive in bending environment, and has a good application prospect in biomedical engineering field in human intestinal unstructured environment.


Dual helical actuation; Micro-robot; Magnetorheological fluid; Attitude control; Simulated analysis

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