Abstract Based on the multiple wedge effects, magnetically manipulated petal-shaped capsule robots (PCRs) using circle-based profiles have achieved an advantageous comprehensive driving performance, which lies in acquiring the high fluid dynamic pressure to ensure the good self-centering ability inside the pipe, the fast steady swimming speed and the low fluid resistance torsion moment. Nevertheless, the limited parametric choice of the circle-based profile hinders the further improvement in the comprehensive driving performance. This paper presents a general profile optimization method using polynomial curve for PCRs to further enhance the comprehensive driving performance. Applying the fluid lubrication theory, the fluid dynamic pressure, the steady swimming speed and the fluid resistance torsion moment are derived under the polynomial profile constraints. Selecting the steady swimming speed and the fluid resistance torsion moment as the optimization objectives, the PCR is optimized using the polynomial profile by the proposed method. Afterwards, a comparative investigation into the optimized and the circle-based PCRs and the non-PCR (the ordinary spiral-type capsule robot) has been conducted both theoretically and experimentally, showing that the optimized PCR using the polynomial profile improves the comprehensive driving performance significantly compared with its counterparts.

中文翻译：

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一种磁性花瓣形胶囊机器人的多项式轮廓优化方法

摘要 基于多重楔形效应，磁力操纵花瓣形胶囊机器人（PCRs）利用基于圆的轮廓实现了优越的综合驱动性能，其在于获得高流体动压以确保内部良好的自定心能力。管，快速稳定的游动速度和低流体阻力扭矩。然而，基于圆的轮廓的有限参数选择阻碍了综合驾驶性能的进一步提高。本文提出了一种使用多项式曲线进行 PCR 的通用轮廓优化方法，以进一步提高综合驾驶性能。应用流体润滑理论，流体动压，稳定游泳速度和流体阻力扭矩是在多项式轮廓约束下导出的。选择稳定的游泳速度和流体阻力扭矩作为优化目标，利用所提出的方法利用多项式曲线对PCR进行优化。随后，从理论和实验上对优化后的基于循环的 PCR 和非 PCR（普通螺旋型胶囊机器人）进行了对比研究，结果表明使用多项式曲线的优化 PCR 提高了综合驱动性能与同行相比有显着的提升。