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Orthogonal transformation operation theorem of a spatial universal uniform rotating magnetic field and its application in capsule endoscopy

查看全文 作　　者：ZHANG [1,2]YongShun;YU [1]ZiChun;YANG [1]HuiYuan;HUANG [1]YunKui;CHEN [3]Jun 高影响力作者 机构地区：[1]Key Laboratory for Precision & Non-traditional Machining of Ministry of Education of China, Dalian University of Technology;[2]The State Key Laboratory of Mechanical Transmissions, Chongqing University;[3]Department of Mechanical Engineering, School of Naval Architecture and Ocean Engineering, Harbin Institute of Technology高影响力机构 出　　处：《Science China(Technological Sciences)》索引2017年第60卷第6期,共11页高影响力期刊 基　　金：supported by the National Natural Science Foundation of China (Grant Nos. 51277018, 61175102, & 51475115);the Open Fund of the State Key Laboratory of Mechanical Transmissions (Grant No.SKLMT-KFKT-201509) 摘　　要：According to the anti-phase sine current superposition theorem, the orientation, the magnetic flux density, the angular speed and the rotational direction of the spatial universal rotating magnetic field (SURMF) can be controlled within the tri-axial orthogonal square Helmholtz coils (TOSHC). Nevertheless, three coupling direction angles of the normal vector of the SURMF in the Descartes coordinate system cannot be separately controlled, thus the adjustment of the orientation of the SURMF is difficult and the flexibility of the robotic posture control is restricted. For the dimension reduction and the decoupling of control variables, the orthogonal transformation operation theorem of the SURMF is proposed based on two independent rotation angular variables, which employs azimuth and altitude angles as two variables of the three-phase sine current superposition formula derived by the orthogonal rotation inverse transformation. Then the unique control rules of the orientation and the rotational direction of the SURMF are generalized in each spatial quadrant, thus the scanning of the normal vector of the SURMF along the horizontal or vertical direction can be achieved through changing only one variable, which simplifies the control process of the orientation of the SURMF greatly. To validate its feasibility and maneuverability, experiments were conducted in the animal intestine utilizing the innovative dual hemisphere capsule robot (DHCR) with active and passive modes. It was demonstrated that the posture adjustment and the steering rolling locomotion of the DHCR can be realized through single variable control, thus the orthogonal transformation operation theorem makes the control of the orientation of the SURMF convenient and flexible significantly. This breakthrough will lay a foundation for the human-machine interaction control of the SURMF. 关 键 词：胶囊内窥镜 正交变换 运算法则 旋转磁场 叠加定理 和空间 应用 均匀
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