【摘要】 针对现有胶囊机器人姿态调整范围小、稳定性差等问题，提出一种由空间万向旋转磁场控制的欠驱动球形胶囊机器人。球形胶囊机器人基于径向磁化磁环与空间万向旋转磁场之间的旋转定轴效应工作，以密封腔内嵌全悬浮磁环空转方式实现俯仰与侧摆2自由度运动解耦，通过调整旋转磁场轴线方位控制胶囊轴线同步翻转运动实现全方位定点调姿与翻滚行走功能。通过动力学建模与理论计算，确定了磁场控制参数稳定域，并从理论上验证了胶囊机器人旋转定轴效应，为其实际应用奠定了基础。更多还原

【Abstract】 Aiming at the limitations of current capsule robots, such as a restricted range of posture adjustment and low stability, an underactuated spherical capsule robot controlled by the space universal rotating magnetic field is proposed.Specifically, the spherical capsule robot works based on the rotating fixed-axis effect between the radial magnetized magnetic ring and the space universal rotating magnetic field.The capsule seal chamber is embedded with a fully suspended idle magnetic ring, which decouples the yaw and pitch motions of the capsule.The spherical capsule robot’s all-round observation and the rolling walking function can be achieved by adjusting the magnetic field rotation axis.Based on the dynamics modeling and theoretical calculation, the stable domain of magnetic field parameters is determined and the rotating fixed-axis effect is proved theoretically, laying a foundation for applying the magnetically controlled spherical capsule robot.更多还原