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发表时间：2018-01-01

发表刊物：华中科技大学学报 自然科学版

卷号：46

期号：4

页面范围：80-85

ISSN号：1671-4512

摘要：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. © 2018, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.

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