无缆微型游动机器人驱动磁场系统的研究  

Research on Driving Magnetic Field System for a Wireless Micro Swimming Robot

作　　者：张永顺[1] 刘巍[1] 郭锐[1] 贾振元[1] 

机构地区：[1]大连理工大学精密与特种加工教育部重点实验室,辽宁大连116024

出　　处：《机器人》2005年第1期63-67,共5页Robot

基　　金：国家自然科学基金资助项目 ( 6 0 2 750 34 );辽宁省自然科学基金资助项目 ( 2 0 0 2 10 6 1;2 0 0 32 119)

摘　　要：提出了一种基于组合线圈结构的磁场系统驱动实验方案 ,以实现基于磁致伸缩薄膜驱动器的泳动微型机器人的磁控驱动与游动实验参数的检测 .首先介绍了该组合线圈的功率优化与设计方法 ,然后分析了保证一定区域内磁场均匀性的技术方案 ,最后用ANSYS软件对所设计的组合线圈进行了仿真和验证 .实验结果表明该组合结构磁场系统的性能可以满足无缆微型机器人的磁控驱动的设计要求 .An experimental proposal for magnetic system based on the structure of combined coil is presented so as to realize its magnetic drive and control on a micro swimming robot actuated by giant magnetostrictive thin films, as well as to measure its experimental parameters. Firstly the power optimization and design method for the combined coil is introduced, and then a technical approach to ensure the uniformity of its magnetic field is analyzed. Finally, simulation and verification on the combined coil is conducted by means of ANSYS software, and the experimental results show that its performance can meet the expected design requirements for drive and control on the wireless micro swimming robot by magnetic field.

关 键 词：微型游动机器人 磁致伸缩薄膜 功率优化 磁场均匀化 组合线圈 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]