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Development of a permanent magnet type micro-robot actuated by external electromagnetic system

机译:外部电磁系统驱动的永磁型微型机器人的开发

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摘要

A novel and simple electromagnetic actuation (EMA) system having a permanent magnet (PM) type micro-robot and external coil pairs is proposed. The micro-robot is composed of PM and the newly proposed EMA system consists of only two coil pairs arranged along x- and y-axis, respectively, allowing different current intensity into each coil to derive torque and thrust force on the horizontal plane. Magnetic fields generated by the EMA system are analyzed through the finite element analysis and numerical results are compared with the theoretical analysis to verify the feasibility of the proposed system. A prototype system is manufactured and its performance is verified by comparison of magnetic flux values.
机译:提出了一种新颖且简单的具有永磁(PM)型微型机器人和外部线圈对的电磁驱动(EMA)系统。微型机器人由PM组成,新提出的EMA系统仅由分别沿x轴和y轴排列的两个线圈对组成,从而允许进入每个线圈的电流强度不同,从而得出水平面上的扭矩和推力。通过有限元分析对EMA系统产生的磁场进行了分析,并将数值结果与理论分析进行了比较,以验证该系统的可行性。制造出原型系统,并通过比较磁通量值来验证其性能。

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