CAJ | 학술논문

建立三维空间梯度旋转磁场内胶囊机器人的磁力模型，采用截面法研究梯度磁场内磁力的大小与方向特性，分析梯度场内磁力对机器人运动的影响，采用永磁体对磁力方向性进行验证，并采用胶囊机器人对该磁力进行定量分析，结果表明机器人所受磁力的大小和方向与磁场区域相关，研究结果可以解释试验中出现的机器人停滞不前、倒退和振动等现象，梯度磁场拉力特性的研究对进一步提高胶囊机器人的驱动性能具有一定的参考价值。
건립삼유공간제도선전자장내효낭궤기인적자력모형，채용절면법연구제도자장내자력적대소여방향특성，분석제도장내자력대궤기인운동적영향，채용영자체대자력방향성진행험증，병채용효낭궤기인대해자력진행정량분석，결과표명궤기인소수자력적대소화방향여자장구역상관，연구결과가이해석시험중출현적궤기인정체불전、도퇴화진동등현상，제도자장랍력특성적연구대진일보제고효낭궤기인적구동성능구유일정적삼고개치。
A magnetic force model of a capsule robot in three-dimensional spatial rotating magnetic field with gradient is proposed. The magnitude and direction of the magnetic force are investigated employing the section across the spatial rotating magnetic field, and the influence on the motion of the robot originated from the magnetic force is analyzed. The directivity of the magnetic force is verified using a permanent magnet, and the quantity of the magnetic force is tested using a spiral robot. Experimental results show that the magnitude and direction of the magnetic force are related to different location of the magnetic field. The experimental phenomena such as stagnation, retrogression and vibration happens to the capsule robot can be explained by the experimental results, the characteristics of the magnetic force generated by the spatial rotating magnetic field with gradient may have reference value for further improving the drive performance of the robot.