Mathematics modeling and analysis of the vascular interventional robot propelled by flagella

A novel vascular interventional robot (VIR) which was propelled by four rigid flagella was designed. Flagella were located on the two poles of the robot. By controlling the combination of speed and rotate-direction, the robot will be able to swim forward or backward, turn, dive or rise in the pipe with non-contact. Quaternion method was utilized to establish kinematic model according to the structural and kinetic characteristics of the robot. Resistive force theory (RFT) was utilized to calculate the force and torch provided by flagella theoretically. The dynamical model of robot was built based on Newton-Euler equations. Moreover, Runge-Kutta numerical integration algorithm was applied to solve dynamic equations and calculate the mathematical models, so as to verify the validity of the kinematic and dynamic model, and also to show the good maneuverability of VIR.