中文摘要：

这份报纸与可变直径建议一个肠囊机器人。它被外部旋转磁场驾驶并且有自动光线的清理赔偿的功能。与可变直径产生设备和一个囊机器人的一个外部磁场被开发。在灵活 elasto 墙环境内旅行的囊机器人的光线的动态平衡方程和 kinematics 方程被建立，并且在灵活 elasto 墙管子和僵硬的墙管子环境内的囊机器人的动态特征被分析并且比较。它在两个的动态特征输送的模拟和实验结果表演是几乎一样。在光线的清理赔偿的行动下面，液体在囊机器人和它的推进的外部表面附近的动态压力，以及它到直径变化范围的适应性，显著地被改进。它的推进和动人的速度被调整旋转磁场的旋转尖速度控制。有光线的清理赔偿的这个创新的囊机器人有有希望的前景为在内复杂胃肠(官方补给) 在非侵略的治疗应用程序的道。

英文摘要：

This paper proposes an intestine capsule robot with variable diameter. It is driven by external rotating magnetic field and has the function of automatic radial clearance compensation. An external magnetic field generating device and a capsule robot with variable diameter are developed. Radial dynamic balance equation and kinematics equation of the capsule robot traveling inside flexible elasto-wall environment are established, and dynamic characteristics of the capsule robot inside flexible elasto-wall pipe and rigid wall pipe environments are analyzed and compared. Simulations and experiment results show that its dynamic characteristics in both pipes are almost the same. Under the action of radial clearance compensation, fluid dynamic pressure around outer surface of the capsule robot and its propulsion, as well as its adaptability to diameter change range, are significantly improved. Its propulsion and moving speed are controlled by adjusting rotating angular speed of the rotating magnetic field. This innovative capsule robot with radial clearance compensation has a promising prospect for inside intricate gastrointestinal （GI） tract in non-invasive therapy applications.