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发表时间：2012-01-01

发表刊物：高技术通讯

所属单位：机械工程学院

期号：7

页面范围：721-726

ISSN号：1002-0470

摘要：For the steering drive of a capsule robot in any direction, the paper proposes a technical scheme that uses three axis orthogonal square Helmholtz coils to generate a spatial universal rotating uniform magnetic field by three harmonic currents with the same frequency and relevant amplitude and phase. A magnetic field generator and power source with three phase frequency conversions were developed, and the experiments were conducted successfully for verifying the spatial universal rotating magnetic field and the steering experiment in curve pipes. The magnetic moment modeling was derived according to the magnetic coupling mechanism, and based on the Euler equation, a swinging equation was derived. The relationships between the follow-up moment and the steering angle, as well as between the spin moment and the steering angle, were studied, and finally, the influences of the magnetic moments on the stability of a capsule robot and the robotic drive effect were analyzed, indicating that the follow-up effect generated by the rotating magnetic field is beneficial to its turning movement.

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