胶囊机器人在黏液中旋进运动的研究

研究表面螺旋胶囊机器人在外部旋转磁场作用下在黏液中的运动特性。首先介绍外磁推进的胶囊机器人的系统构成，给出表面螺旋胶囊在黏液中旋进的磁主动矩的表达式，然后制作了镶有条形强磁片的胶囊机器人样品，搭建了旋转磁场试验台，配置了不同动力黏度的二甲基硅油以模拟人体体液。试验模拟旋转磁场对胶囊机器人在不同黏性液体中的旋转，证明了设计的合理性和可行性。当外部磁场强度在6.281 A/m左右时，胶囊机器人受到的驱动力矩为1.0 mN·m左右。在胶囊机器人的设计中，决定需要的外部磁场强度以及所受到的阻力矩大小的因素依次为胶囊直径、设计的工作转速和黏液的黏度。

Experimental study on a capsule-like robot driven by an outer rotating magnetic field

The kinetic characteristics of a capsule-like robot (CLR) with a spiral surface driven by a rotating magnetic field are studied. Firstly, the operation principles and design of the whole system are introduced and the formulas to calculate the torque acting on the CLR by a rotating outer magnetic field are given. Then, a tester is developed and three CLR samples embedding a pair of magnetic bars are made. The samples have different sizes. Several types of viscous silicon oil simulating a body fluid are compounded in experiments. Finally, some experiments are carried out to prove the correctness and feasibility of the design. Some conclusions can be drawn from the experimental results. When the intensity of outer magnetic field is about 6 281 A/m, active torque on CLR samples is about 1.0 mN·m. From analysis, three factors are found to determine the resistance torque acting on the CLR. They, ordered according to their importance, are namely diameter of a CLR, rotational speed and fluid viscosity.