花瓣型胶囊机器人空间转弯磁矩研究

Research on spatial steering magnetic moment for petal-shaped capsule robot

为降低对肠道的扭曲作用,提出一种扭转力矩效应花瓣型胶囊机器人,实现了机器人与肠道隔离.对弯曲环境约束下的机器人运动学进行分析,建立万向旋转磁矢量空间磁力矩模型.为了实现胶囊机器人转弯时的流体扭转力矩在线检测,提出一种弯曲环境内临界耦合转弯磁矩检测方法,以俯仰力矩为目标函数,通过主要目标法对转差角和水平夹角进行优化.研究结果表明：在一定水平夹角和转差角范围内,机器人俯仰力矩均减小,降低了机器人摆动,提高了转弯稳定性;该机器人显著减小了转弯时对肠道的扭曲作用,提高了非接触驱动性能和肠道内驱动安全性.

In order to reduce the twisted impact on the gastrointestinal（GI） tract,a petal-shaped capsule robot was proposed,achieving the isolation from the robot and GI tract.The robot kinematics under curved environment was analyzed and spatial magnetic moment model of universal rotating magnetic vector was derived.For realizing the detection of the fluid resistance torsion moment when steering,an method employing critical coupling magnetic moment for detecting the fluid resistance torsion moment in curved environment was proposed.For investigating magnetic moment characteristics,regarding pitch magnetic moment as objective function,optimization of slip angle and horizontal contained angle were conducted using main object method.Research results show that pitch magnetic moment is decreased within a certain slip angle and horizontal contained angle range,achieving the reduction of robot swing and the improvement of steering stability.The robot significantly reduces the twisted impact on the GI tract when steering,achieving safer non-contact driving performance in the GI tract.