ANALYSIS OF THE DYNAMIC BEHAVIOR OF CAPSULE ROBOT WHEN CHANGING THE IMPACT GAP OF THE VIBRATOR

Abstract

The impact gap is an important structural parameter of the vibrator in a self-moving capsule device. This parameter needs to be set before packing the capsule robot. This study presents numerical simulation results evaluating the influence of impact gap on the dynamic behavior of the capsubot. Analytical techniques of time history plot, progression map, phase diagram, Poincaré map and bifurcation diagram are used to evaluate the system stability. The analysis results help designers have a technical basis to choose the appropriate impact gap in accordance with the operational requirements of the capsule. These results can be used to optimize control variables and design parameters, as a premise in building an experimental system to verify and evaluate the dynamic behavior of the capsubot system. This approach will also help reduce time and save costs on designing and manufacturing experimental models when developing active - controllable capsules.