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

查看全文 作　　者：ZHANG [1]YongShun;WANG [1]Na;DU [1]ChunYu;SUN [1]Ying;WANG [1]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)》索引2013年第56卷第2期,共10页

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 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 关键词：矢量控制理论均匀磁场旋转磁场机器人胶囊环境弯曲亥姆霍兹线圈

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

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