提出一种外旋转磁场驱动的具有径向间隙自补偿功能的胶囊式微型机器人模型.对机器人的驱动转矩特性进行了研究,建立了磁驱动转矩数学模型.根据机器人在流体中的阻力矩特性,研究了磁驱动转矩克服流体阻力矩引起的机器人丢步转速现象,分析了丢步转速与螺旋结构参数的关系.游动试验表明,机器人磁驱动系统没有发生丢步现象,通过径向间隙调整,可以实现胶囊机器人推力与阻力矩的控制. A capsule-type micro-robot model with radial gap self-compensation driven by external rotating magnetic field is proposed. The driving torque characteristics of the robot are studied and a mathematical model of the magnetic driving torque is established. According to the resistance moment of the robot in the fluid Characteristics of magnetic drive torque to overcome the fluid drag torque caused by robotic throwing speed phenomenon was analyzed and the relationship between lost speed and helical structure parameters was analyzed.Novement tests showed that the robotic magnetic drive system did not lose the phenomenon of lost, Gap adjustment, capsule robots can achieve thrust and drag torque control.