中文摘要：

建立三维空间梯度旋转磁场内胶囊机器人的磁力模型,采用截面法研究梯度磁场内磁力的大小与方向特性,分析梯度场内磁力对机器人运动的影响,采用永磁体对磁力方向性进行验证,并采用胶囊机器人对该磁力进行定量分析,结果表明机器人所受磁力的大小和方向与磁场区域相关,研究结果可以解释试验中出现的机器人停滞不前、倒退和振动等现象,梯度磁场拉力特性的研究对进一步提高胶囊机器人的驱动性能具有一定的参考价值。

英文摘要：

A magnetic force model of a capsule robot in three-dimensional spatial rotating magnetic field with gradient is proposed. The magnitude and direction of the magnetic force are investigated employing the section across the spatial rotating magnetic field, and the influence on the motion of the robot originated from the magnetic force is analyzed. The directivity of the magnetic force is verified using a permanent magnet, and the quantity of the magnetic force is tested using a spiral robot. Experimental results show that the magnitude and direction of the magnetic force are related to different location of the magnetic field. The experimental phenomena such as stagnation, retrogression and vibration happens to the capsule robot can be explained by the experimental results, the characteristics of the magnetic force generated by the spatial rotating magnetic field with gradient may have reference value for further improving the drive performance of the robot.