Control theorem of a universal uniform-rotating magnetic vector for capsule robot in curved environment  

作　　者：ZHANG YongShun WANG Na DU ChunYu SUN Ying WANG DianLong 

机构地区：[1]Key Laboratory for Precision & Non-traditional Machining of Ministry of Education of China,Dalian University of Technology

出　　处：《Science China(Technological Sciences)》2013年第2期359-368,共10页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China (Grant Nos. 60875064,61175102,and 51277018)

摘　　要：For realizing non-contact steering swimming of a capsule robot in curved environment filled with viscous liquid, based on spa- tial orthogonal superposition theorem of alternating magnetic vectors, an innovative physical method is proposed, which em- ploys 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 effec- tive 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

关 键 词：capsule robot universal magnetic spin vector anti-phase sine current superposition theorem 

分 类 号：TH789[机械工程—仪器科学与技术]