If you look closely you will see two cylindrical pistons on the side of the robot.
如果你仔细观察你会看到有两个圆柱形活塞分别在机器人的两侧。
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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