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论文类型：期刊论文

发表时间：2013-02-01

发表刊物：SCIENCE CHINA-TECHNOLOGICAL SCIENCES

收录刊物：SCIE、EI

卷号：56

期号：2

页面范围：359-368

ISSN号：1674-7321

关键字：capsule robot; universal magnetic spin vector; anti-phase sine current superposition theorem

摘要：For realizing non-contact steering swimming of a capsule robot in curved environment filled with viscous liquid, based on spatial orthogonal superposition theorem of alternating magnetic vectors, an innovative physical method is proposed, which employs three-axis orthogonal square Helmholtz coils fed with three phase sine currents to create a universal uniform magnetic spin vector as energy source. According to the antiphase sine current superposition theorem generalized in this paper, an effective control method for successively adjusting the orientation and the rotating direction of the universal magnetic spin vector is proposed. For validating its feasibility and controllability, three-axis Helmholtz coils, power source and an innovative capsule robot prototype were manufactured, experiments were conducted in both spiral pipe and animal intestine. It was demonstrated that the orientation and the rotational direction of the universal uniform-magnetic spin vector can be adjusted successively through digital control and steering swimming of the capsule robot in spiral intestine can be achieved successfully. The breakthrough of the universal rotating uniform-magnetic vector will push forward the development of modern physics and biomedical engineering