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为了以空间万向旋转磁矢量为驱动源实现肠道胶囊机器人在充满大黏度液体弯曲环境内的非接触式转向游动,基于空间交变矢量正交叠加原理,本文提出一种新的叠加空间万向均匀旋转磁矢量的物理方法,即采用三相正弦波电流在三轴正交嵌套亥姆霍兹线圈装置内叠加均匀空间万向旋转磁场.根据所归纳的反相位电流叠加定律,提出了一种有效调整均匀空间万向旋转磁场方位与旋向的控制方法,为了验证叠加空间万向旋转磁场的可行性和可控性,研制了三轴正交嵌套的亥姆霍兹线圈装置、驱动电源和新型胶囊机器人样机,并在螺旋弯管和动物肠道内进行了游动试验,结果表明均匀空间万向旋转磁场的方位与旋向均可以数字化连续调整,通过空间万向旋转磁矢量的控制,胶囊机器人可在螺旋状肠道内转弯游走,空间万向旋转磁场技术的突破将推动现代物理学与生物医学工程的发展.
In order to use the space universal rotating magnetic vector as the driving source to realize the non-contact steering walk of the intestinal capsule robot in the bending environment filled with high viscosity liquid, based on the orthogonal principle of space alternating vector, a new superposition space According to the generalized law of superposition of anti-phase current, the three-axis orthogonal neutron Helmholtz coil device is used to superimpose a uniform space universal rotating magnetic field, In order to verify the feasibility and controllability of the universal rotating magnetic field in the superposition space, a three-axis orthogonally nested Helmholtz coil Device, driving power and a prototype of a new type of capsule robot, and the swimming test was carried out in the spiral pipe and the animal intestine. The results show that the azimuth and the direction of rotation of the uniform space universal rotating magnetic field can be digitally and continuously adjusted. Vector control, capsule robots can walk around the spiral intestine, and the breakthrough of the space universal rotating magnetic field technology will promote the development of modern physics and biomedicine The development of the project.