针对肠道胶囊机器人的临界间隙现象,研制了一种具有径向间隙自补偿功能的变径胶囊机器人,应用泛函变分原理,建立了满足胶囊机器人外螺旋肋表面边界条件的流体动压力模型,基于端部效应和机器人外表面流体的动态平衡特性,对胶囊机器人的临界间隙现象进行了理论与试验研究,定义了启动转速的概念,对螺旋参量与启动转速的关系进行了研究,提出了同一磁场下对多个胶囊机器人实施驱动控制的方法,并以启动曲线具有相似运动规律为目标函数,通过遗传算法(GA)对多个胶囊机器人的螺旋参量进行了优化设计,试验表明能有效的对多个胶囊机器人实施驱动控制,实现人体肠道内多个不同医疗目标胶囊机器人的驱动与控制,具有良好的医学应用前景. Aiming at the critical gap phenomenon of gut capsule robot, a variable-geometry capsule robot with radial gap self-compensation function was developed. By using functional variational principle, a fluid dynamic pressure model was established to meet the boundary condition of the outer rib of the capsule robot Based on the dynamic balance characteristics of the end effect and fluid on the outer surface of the robot, the critical gap phenomenon of the capsule robot is theoretically and experimentally studied. The concept of starting speed is defined, and the relationship between the helical parameters and the starting speed is studied. The method of driving and controlling a plurality of capsule robots under the same magnetic field is adopted, and the objective function of the starting curve with similar motion is taken as objective function. Genetic algorithms (GA) are used to optimize the spiral parameters of multiple capsule robots. The experimental results show that Driving and controlling a plurality of capsule robots and driving and controlling a plurality of different medical target capsule robots in human intestine have good medical application prospect.