肠道胶囊式微机器人轴向磁拉力特性

提出一种以径向磁化的瓦状多磁极组成的圆筒式永磁体为外驱动器，以嵌入机器人本体内与外驱动器同磁极结构的永磁体为内驱动器的非接触式驱动控制方案。通过外驱动器的旋转产生旋转磁场，借助于磁机耦合作用，驱动机器人旋转并在其外螺纹表面形成的流体动压力作用下产生轴向推力，进而实现胶囊式机器人在肠道内旋进。基于等效磁荷理论，采用磁荷积分法建立了驱动器的轴向磁拉力模型，对驱动器磁极结构参数与磁拉力的关系特性以及磁拉力与机器人游动关系特性进行了理论与试验研究。

Characteristics of Magnetic Tensile Force along Axial Direction of a Capsule Micro Robot Applied in Intestine

A non--contact drive and control method on capsule type micro robot was proposed, in which exterior permanent magnet driver was composed of multiple tegular magnetic poles magnetized in radial direction, while interior permanent magnet driver built in robot was in the same structure as exterior one. On the action of magneto mechanical coupling of rotating magnetic field generated by turning of exterior driver, robot was spun to generate propulsion in axial direction under the function of fluid dynamic pressure distributed on spiral surface of the robot, as a result,spiral and drive motion of the capsule type micro robot in intestine was realized. Thereafter mathematical model on magnetic tensile force along axial direction was established based on magnetic charge integral calculus by equivalent magnetic charge theory, by which characteristics and relationship among structural parameters of magnetic poles and magnetic tensile force,as well as effect on the swimming characteristic of the robot by magnetic tensile force, were calculated and experimented.