中文摘要：

针对胶囊机器人任意方向的转弯驱动，提出了向三轴正交亥姆霍兹线圈加载一定幅值和相位关系的同频谐波电流叠加空间万向旋转磁场的技术方案，研制了磁场发生装置与三相变频驱动电源，并成功地进行了万向旋转磁场的验证与转弯试验。根据磁耦合机理建立了空间磁力矩模型，并基于欧拉方程，建立了机器人摆动方程，研究了转向角与随动力矩和自转力矩的关系，进而分析了磁驱力矩分量对胶囊机器人稳定性和驱动效果的影响，结果表明，旋转磁场的随动效应有利于机器人转弯。

英文摘要：

For the steering drive of a capsule robot in any direction, the paper proposes a technical scheme that uses three axis orthogonal square Helmhohz coils to generate a spatial universal rotating uniform magnetic field by three har- monic currents with the same frequency and relevant amplitude and phase. A magnetic field generator and power source with three phase frequency conversions were developed, and the experiments were conducted successfully for verifying the spatial universal rotating magnetic field and the steering experiment in curve pipes. The magnetic mo- ment modeling was derived according to the magnetic coupling mechanism, and based on the Euler equation, a swinging equation was derived. The relationships between the follow-up moment and the steering angle, as well as between the spin moment and the steering angle, were studied, and finally, the influences of the magnetic moments on the stability of a capsule robot and the robotic drive effect were analyzed, indicating that the follow-up effect gen- erated by the rotating magnetic field is beneficial to its turning movement.