Abstract: For realizing non-contact swimming of a capsule robot driven by a universal rotating magnetic vector in complex bending environment filled with high viscous liquid, based on geometric constraint of bending environment, trafficability characteristic and magnetic vector control strategy for capsule robot to steer in circular arc tube and angle tube are investigated. The steering position, steering angle and actuating distance for non-contact swimming of the capsule robot in bending environment are derived based on path planning, for achieving successful steering control, based on aforementioned parameters, a spatial transformation model for directional adjustment of the universal magnetic spin vector at each driving point is derived. Experiments demonstrate that the control strategy can achieve the non-contact transit for the capsule robot to steer in bending environment.

Key words: capsule robot;universal rotating magnetic vector;non-contact transitting strategy;discrete actuating control