This paper studies the prototype development for the self-propelled capsule system which is driven by autogenous vibrations and impacts under external resistance forces. This project aims for proof-of-concept of its locomotion in pipeline environment in order to mitigate the technical complexities and difficulties brought by current pressure-driven pipeline inspection technologies. Non-smooth multibody dynamics is applied to describe the motion of the capsule system, and two non-smooth nonlinearities, friction and impact, are considered in modelling. The prototype of the self-propelled capsule system driven by a push-type solenoid with a periodically excited rod has been designed to verify the modelling approach. The prototype contains a microcontroller, a power supply, and a wireless control module, which has been tested in a clear uPVC pipe via remote control. Various control parameters, e.g. impact stiffness, frequency and amplitude of excitation, are studied experimentally, and finally, the fastest progression of the system is obtained.

中文翻译：

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用于管道检查的自走式胶囊系统的概念验证原型开发

本文研究了在外阻力作用下由自振和冲击驱动的自走式胶囊系统的原型开发。该项目旨在对其在管道环境中的运动进行概念验证，以减轻当前压力驱动管道检测技术带来的技术复杂性和困难。应用非光滑多体动力学来描述胶囊系统的运动，并在建模中考虑两种非光滑非线性，摩擦和冲击。由带有周期性激励杆的推式螺线管驱动的自走式胶囊系统的原型设计用于验证建模方法。原型包含一个微控制器、一个电源和一个无线控制模块，已通过远程控制在透明 uPVC 管道中进行了测试。通过实验研究了各种控制参数，例如冲击刚度、激励频率和振幅，最终获得了系统的最快进程。