In the third chapter, mathematical model of size tolerance, form tolerance, orientation tolerance and location tolerance of cylindrical feature was established.

第三章：建立圆柱要素尺寸公差、形状公差、定向公差和定位公差的数学模型。

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The cylindrical permanent magnet inside micro-robot was equivalent to magnetic dipole. The magnetic orientation equation based on magnetic dipole model was established.

将置于机器人内的圆柱型永磁体等效为磁偶极子，建立了基于磁偶极子模型的磁定位方程。

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The spiral crystal is just like a straight crystal bar with definite orientation coiled on a cylindrical surface. It is not formed spontaneously, but is formed under control.

这种螺旋晶体就像一根具有一定取向的直晶棒被弯曲盘卷在一个圆柱面上，它不是自发地而是受人工控制形成的。

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