[1]刘振虎,张永顺.新型磁控欠驱动胶囊机器人动力学特性分析[J].机械与电子,2025,(05):3-9.
　LIU Zhenhu,ZHANG Yongshun.Dynamic Characteristics Analysis of a Novel Magnetically Controlled Underactuated Capsule Robot[J].Machinery & Electronics,2025,(05):3-9.
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新型磁控欠驱动胶囊机器人动力学特性分析()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2025年05期
页码:
3-9
栏目:
研究与设计
出版日期:
2025-05-23

文章信息/Info

Title:
Dynamic Characteristics Analysis of a Novel Magnetically Controlled Underactuated Capsule Robot
文章编号:
1001-2257 ( 2025 ) 05-0003-07
作者:
刘振虎; 张永顺
大连理工大学高性能精密制造全国重点实验室,辽宁 大连 116024
Author(s):
LIU Zhenhu ;  ZHANG Yongshun
( Key Laboratory for Precision and Non-traditional Machining of Ministry of Education , Dalian University of Technology , Dalian 116024 , China )
关键词:
欠驱动球形胶囊机器人; 空间万向旋转磁场; 旋转定轴效应; 动力学模型
Keywords:
underactuated spherical capsule robot ;  space universal rotating magnetic field ;  rotating fixed-axis effect ;  dynamics modeling
分类号:
TP242 ;TH113.2+3
文献标志码:
A
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。
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.

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备注/Memo

备注/Memo:
收稿日期: 2025-01-06
基金项目:国家自然科学基金资助项目( 62173059 )
作者简介:刘振虎 ( 1998- ),男,河北邢台人,硕士研究生,研究方向为磁控胶囊机器人;张永顺 ( 1965- ),男,黑龙江哈尔滨人,博士,教授,博士研究生导师,研究方向为微型机器人技术及理论、机器人机电一体化技术,通信作者, E-mail :zyshun@dlut.edu.cn 。
更新日期/Last Update: 2025-06-11