Intra-Natural Orifice Locomotion Robot with Propulsion by Chemical Reaction

There are multiple ways for robots to advance, such as peristalsis, rolling, magnetic drive, and rear push. However, the thrust generated by chemical reactions can also drive objects to move. How to design a robot to generate thrust through chemical reactions to drive it is a challenging problem. This paper proposes a cavity motion robot driven by chemical reactions, multiple reactant delivery mechanisms, a method for controlling the direction of reaction forces, a reaction chamber of the robot, on-off valves, and a device for discharging reaction products. Analyze and derive the relationship between the kinetic energy of gases generated by chemical reactions, robot displacement, and reactant volume. The feasibility of the basic principle of the robot's movement was tested from an experimental perspective. This driving method provides a new type of movement mode for the motion robot in the pipeline. A new field of driving research has been opened up.