采用阿基米德螺旋线腿式钳位机构，以保证微型胃肠道机器人具有足够大的扩张力以及相对平缓的径向扩张速度；设计了减速比为489的减速器，以保证钳位机构具有较大的输出转矩；通过无线能量接收线圈的优化实验，研究了一维接收线圈几何尺寸对能量接收效率的影响.结果表明，在相同空间，即考虑磁芯和绕线的总外径相等的条件下，磁芯厚度越大，线圈的能量接收效率越高.
A reducer is designed for clamping mechanism to provide sufficient expanding force and the relatively slow expanding speed. The reduction ratio of the reducer is up to 489 to ensure a large output torque. In addition, the optimization experiment of the wireless power receiving coil is carried out. The influence of the dimension of the one-dimensional receiving coil and the number of winding wires on the receiving effiency is analyzed. The results show that the larger the core thickness is, the higher the receiving efficiency is, considering the total outer diameter of the core and the winding.
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