Nonlinear dynamic behaviors of vibro-propelled capsule robot in fluid environment

In this paper, the dynamic response of a vibro-propelled capsule robot within a fluid-filled small intestine environment is studied, and the influences of various capsule parameters on different performance metrics are investigated. To achieve this, the dynamic model of the capsule robot moving along a flat inner surface of the small intestine is established and solved using the fourth-order Runge-Kutta method. Combining bifurcation theory, the motion states of the capsule robot under different parameter values are determined. The capsule’s parameter values determine its average speed, and by selecting appropriate parameter values, the forward and backward movement of the capsule robot can be controlled. Multistability behaviors are also been discovered and explored. To optimize the energy consumption of the capsule robot during operation, the energy efficiency under two sets of parameters is calculated. The genetic optimization algorithm successfully further optimized the performance of the capsule robot. This study provides theoretical guidance and data support for the parameter design of capsule robots in fluid-filled small intestine environments.