欠驱动胶囊机器人多模态转换机理与万向磁场正交变换控制策略

To realize interventional diagnosis and treatment of the capsule robot used in some regions of the GI(gastrointestinal) tract with unstructured spacious environment such as the upper GI tract and etc., a magnetically actuated dual hemisphere(Including other rotating surfaces) capsule robot with the under actuated downside hemisphere and an orthogonal transformation operation theorem of the spatial universal rotating magnetic field (SURMF)based on two independent rotation angular variables are proposed, which possess convertible active and passive modes. Based on lagrangian analytical multi-body dynamics, differential geometry, electromagnetism and modern control theory, conversion mechanism between active and passive modes of a dual hemisphere capsule robot with embedded magnet driven by the SURMF will be investigated, two dynamics models both for adjusting the orientation of the device hoveringly over the downside hemisphere in passive mode and for rolling locomotion in active mode will be derived, by investigating the stability characteristics of the device both in horizontal and vertical orientations, the physical condition of the existence of stability for adjusting the orientation hoveringly will be determined, and the physical nature of the device for adjusting its orientation hoveringly over the underactuated downside hemisphere, including the physical nature of automatic stand characteristics of the device, will be investigated. An orthogonal transformation operation theorem of the SURMF based on two independent rotation angular variables, along with control strategy for realizing conversion between two modes based on the orthogonal transformed SURMF will be investigated，and the superposition equations of the SURMF for adjusting the orientation and for rolling locomotion employing two independent rotation angular variables will be derived, the dimension reduction and decoupling control of the SURMF will be realized step by step, the key technology for separating the hovering orientation adjustment mode from the rolling locomotion mode of the device will be broken through, by integrating the wireless transmitted images from the device and the human-computer interaction control of orientation of the magnetic vector, the hovering orientation adjustment for panoramic observation in the passive mode and the rolling locomotion of the device in the active mode along the curving GI tract will be realized. By simulation and experimental validation, Final purpose is to form control theory and design method of an underactuated capsule robot with convertible active and passive modes, along with an orthogonal transformation operation theorem of the SURMF based on two independent rotation angular variables, as to lay a foundation for all-over inspection and medical operation in some spacious regions of the GI tract.

为了实现上消化道等非结构宽裕环境介入诊疗，提出一种主被动双半球等旋转曲面欠驱动结构胶囊机器人模型和空间万向旋转磁场正交旋转变换叠加原理。以拉格朗日多体力学、微分几何、电磁学及现代控制理论为基础，研究欠驱动胶囊主被动模态转换机理，推导被动模态下悬停调姿与主动模态下滚动行走力学模型，研究欠驱动胶囊轴线双向稳定特性，确定悬停调姿稳定条件，揭示“自站立”特性及悬停调姿物理本质。研究旋转磁矢量正交变换叠加原理与双重模态转换控制策略，推导独立控制变量悬停调姿与滚动行走旋转磁矢量叠加方程，实现旋转磁矢量逐级降维与解耦控制，突破悬停调姿与滚动行走双重作业模态分离关键技术，结合肠道内无线传输图像与磁场方位的人机交互，实现胶囊悬停调姿下的全景观察和沿弯曲环境滚动行走。通过仿真与实验验证，最终形成主被动欠驱动胶囊设计方法与空间万向旋转磁矢量正交变换控制理论，为实现胃肠道宽裕环境内遍历检查与医疗作业奠定基础。

针对采用永磁体梯度磁场难以实现对胶囊机器人的姿态控制问题， 为了实现上消化道等非结构宽裕环境介入诊疗，提出一种主被动双半球胶囊机器人模型和空间万向旋转磁场正交旋转变换叠加原理。揭示了欠驱动胶囊主被动模态转换机理，建立了被动模态下悬停调姿与主动模态下滚动行走力学模型，确定了悬停调姿稳定条件，揭示了悬停调姿物理本质。推导了独立控制变量悬停调姿与滚动行走旋转磁矢量叠加方程，实现旋转磁矢量逐级降维与解耦控制，突破了悬停调姿与滚动行走双重作业模态分离关键技术，结合肠道内无线传输图像与磁场方位的人机交互，实现了胶囊悬停调姿下的全景观察和沿弯曲环境滚动行走。通过仿真与实验验证，形成了主被动欠驱动胶囊设计方法与空间万向旋转磁矢量正交变换控制策略，为实现胃肠道宽裕环境内遍历检查与医疗作业奠定基础。