As the interest about the biotechnology and medical science has been increased, the various precision movement systems in the narrow conditions are needed. Those movement systems can be used for the inspection machine and small motion machine. So, many engineers have tried to develop the movement systems using the various mechanisms. As the precision manufacturing technology has been improved, they can make a lot of small movement systems for inspecting the various material conditions in the narrow space. Those machines can help us watch the material conditions directly and know how to deal with that situation. There are so many mechanisms to be possible in the narrow space. Those methods are wheel mechanism, inchworm mechanism, walking mechanism like spider, vibration mechanism, flagella mechanism and inertial or impact mechanism. The wheel mechanism is very powerful in many cases because it is easy to realize the systems. But, it needs enough friction force to move. The inchworm mechanism also needs proper friction force. The walking mechanism is good to make the precise motion at a time. But, it is difficult to control the system. The vibration mechanism is proper to apply it only to the hard plate movement condition. The flagella mechanism can not move in the condition without water medium. The inertial and impact mechanism has the reaction force problems during the process. So, it has to be solved for the smooth movement.
Especially, if the capsule system is used for the endoscope, there are a lot of problem to overcome the inside conditions of body. The inside of the body has the partially slippery and flexible surface. To make the capsule system in those conditions, the new type actuator is needed. In this thesis, the magnetic impact actuator is proposed for the new type actuator. The magnetic impact actuator uses the electro magnetic force in the actuator body, so reduces the reaction force against the outside condition. In the contrary to the wheel mechanism, the friction force to move the actuator is almost needless. So, this actuator can move in the slippery and flexible condition.
In the first, the actuator with the open magnetic circuit is developed. The permanent magnet and 2 solenoids are used. 2 solenoids are located at the each end of the body. If the current direction is properly switched, the reaction force between the permanent magnet and solenoid has the permanent magnet hit the actuator body. This impact force causes the actuator’s motion. It can move bi-directionally because of the symmetric shape. But, this open magnetic circuit impact actuator has the fatal weakness about the interference when the several actuator units are used. To exclude the magnetic interference, the closed magnetic circuit actuators as a new design is proposed and analyzed with the MAXWELL which is the magnetic field software.
To optimize the system size and efficiency, dynamic analysis is executed according to the friction condition, input wave type, capsule mass and so on. The optimized actuator is manufactured with the permanent magnet and mild steel. The size is 5.5 mm×6.3 mm×23 mm. It is also tested in the certain friction condition and analyzed. And, finally these optimized actuators are arranged in the capsule system (Φ=19 mm) for the translation and rotation motion.