中文摘要：

提出一种外旋转磁场驱动的具有径向间隙自补偿功能的胶囊式微型机器人模型．对机器人的驱动转矩特性进行了研究，建立了磁驱动转矩数学模型．根据机器人在流体中的阻力矩特性，研究了磁驱动转矩克服流体阻力矩引起的机器人丢步转速现象，分析了丢步转速与螺旋结构参数的关系．游动试验表明，机器人磁驱动系统没有发生丢步现象，通过径向间隙调整，可以实现胶囊机器人推力与阻力矩的控制．

英文摘要：

A medical capsule micro robot model with radial clearance compensation function driven by external rotating magnetic field is proposed. The magnetic drive characteristics are studied and the mathematical model of magnetic torque is established. Based on the resistance torque characteristics of robot in liquid, the non-synchronized rotational speed phe- nomenon caused by magnetic drive torque to overcome liquid resistance torque is studied, and the relationship between non-synchronized rotational speed and screw parameters is analyzed. Swimming experiments show that non-synchronized rotational speed phenomenon doesn＇t happen in the robot magnetic driving system, and propulsion and resistance torque of the capsule robot can be controlled with radial clearance adjustment.