中文摘要：

以空间万向旋转磁矢量为驱动源，以实现胶囊机器人在充满大黏度液体复杂弯曲环境内的非接触转向游动为目标，根据弯曲环境几何约束条件，研究机器人在圆弧弯管、转角弯管内的通过性与万向旋转磁矢量的控制策略。根据路径规划，推导机器人在弯曲环境内非接触游动所需要转弯位置、转向角和驱动距离，为顺利实现机器人转弯控制，基于上述参量，建立万向磁矢量的空间变换模型。试验表明，上述控制策略能够有效实现胶囊机器人在弯曲环境内的通过。

英文摘要：

For realizing non-contact swimming of a capsule robot driven by a universal rotating magnetic vector in complex bending environment filled with high viscous liquid, based on geometric constraint of bending environment, trafficability characteristic and magnetic vector control strategy for capsule robot to steer in circular arc tube and angle tube are investigated. The steering position, steering angle and actuating distance for non-contact swimming of the capsule robot in bending environment are derived based on path planning, for achieving successful steering control, based on aforementioned parameters, a spatial transformation model for directional adjustment of the universal magnetic spin vector at each driving point is derived. Experiments demonstrate that the control strategy can achieve the non-contact transit for the capsule robot to steer in bending environment.