摘要
针对流体环境下磁悬浮结构微型机器人操作控制难、工作效能低等问题,提出了一种加强微型机器人在流体环境中工作稳定性的组合式磁体配置模式。该配置模式是在流体环境上下两侧分别配置一大一小两块环形钕铁硼永磁体组合,通过增强机器人所受纵向力,实现增强工作稳定性的目的。首先对另外三种配置模式与该配置进行对比,表明后者使机器人周围磁场线更加线性,并围绕得更加集中。随后,对四种配置分别进行了仿真模拟与实验测试对比,验证了组合式磁体配置模式对流体环境中的机器人具有更优秀的控制能力,显著增强了流体腔内微型机器人的工作稳定性。
Aiming at the problems of difficult operation control and low working efficiency of the micro-robot with magnetic levitation structure in the fluid environment,a combined magnet configuration mode is proposed to enhance the operational stability of the micro-robot in the fluid environment.The configuration mode is to configure a combination of one large and one small annular NdFeB permanent magnets on the upper and lower sides of the fluid environment,which realizes the purpose of enhancing the operational stability by enhancing the longitudinal force applied to the robot.Other three configuration modes are first compared with this configuration,indicating that the latter makes the magnetic field lines around the robot more linear and more concentrated.Subsequently,simulations and experimental tests are carried out for each of the four configurations,comparing the results of the two datas,mutually verifying that the combined magnet configuration mode provides better control of the robot in the fluid environment and significantly enhances the operational stability of the micro-robot in the fluid cavity.
作者
陈健
徐威挺
邱旭东
庞文尧
黄学宇
刘军
CHEN Jian;XU Weiting;QIU Xudong;PANG Wenyao;HUANG Xueyu;LIU Jun(Zhejiang Kecong Control Technology Co.,Ltd.,Hangzhou,Zhejiang 313051;Hangzhou Kecong Software Technology Co.,Ltd.,Hangzhou,Zhejiang 313051;Department of Energy Engineering,Zhejiang University,Hangzhou,Zhejiang 310027)
出处
《液压与气动》
北大核心
2024年第10期45-53,共9页
Chinese Hydraulics & Pneumatics
基金
国家自然科学基金(92048302)。
关键词
磁悬浮
微型机器人
流体环境
工作稳定性
磁体配置
magnetic levitation
micro-robot
fluid environment
operational stability
magnet configuration
