针对钕铁硼永磁体在加工制作微型结构时成型困难且易脆的问题，采用磁流变 液作为微型磁控机器人的驱动材料，设计一种用于人体胃部靶向送药的球形磁控机器 人。根据磁流变液的流变机理，分析磁性颗粒在磁场中的力学关系，建立球形磁控机器 人的动力学模型并进行仿真分析。搭建机器人运动图像获取系统，并利用霍夫变换圆检 测算法计算该机器人的位移。最后，制作机器人样机并在具有空间磁场的实验平台中进 行运动测试。结果表明，基于磁流变液的球形磁控机器人易于控制并且运动稳定、 可靠。

For the problem that NdFeB permanent magnet is brittle and has moulding difficulties in making micro structure，magnetorheological fluid was used as the actuated material for the micro magnetic robot，and a spherical robot for targeted drug delivery in human stomach was designed． According to the rheological principle of magnetorheological fluid，the mechanical relationship of magnetic particles in magnetic field was analyzed，and the dynamic model of spherical robot was established and simulated． The magnetic robot motion image acquisition system was built and robot displacement was calculated with Hough transform circle detection algorithm． Finally，a prototype robot was made and its motion characteristics were tested on an experimental platform with space magnetic field． Ｒesults show that the spherical actuated robot based on magnetorheological fluid is easy to control and its motion is stable and reliable.