先进机器人磁力操纵系统非线性驱动优化设计  

The Optimized Design of Non-linear Actuation in the Advanced Robot for Magnetic Manipulation System

作　　者：任志民 林远翔 刘杨 REN Zhimin;LIN Yuanxiang;LIU Yang(Department of Automobile Engineering,Yuncheng Polytechnic University,Yuncheng 044000,Shanxi,China;Department of Electrical Engineering,University of Twente,Enschede 7522NB,Netherlands;Network Information Center,Yuncheng University,Yuncheng 044000,Shanxi,China)

机构地区：[1]运城职业技术大学汽车工程系,山西运城044000 [2]荷兰屯特大学电气工程系,荷兰恩斯赫德7522NB [3]运城学院网络信息中心,山西运城044000

出　　处：《电气传动》2022年第12期22-26,共5页Electric Drive

摘　　要：研究一种介入式手术机器人磁力操纵系统,该系统是一种新型电磁驱动装置,采用带铁心的可移动线圈实现了大空间内的磁力驱动。运用目标区域磁场最大化方法,优化和求解了在有效载荷和散热约束条件下线圈模型的几何尺寸。在磁场的测控环节增加了一个雅可比逆矩阵,运用在线更新迭代映射方法按给定值产生驱动导管运动所需要的磁感应强度和梯度。通过特斯拉测量仪和霍耳效应传感器测量了半径为1300 mm的球形工作空间内三个磁场轨迹,磁感应强度最小值为20 mT,最大值为80 mT,梯度为0.6 mT/mm。该装置具有较强的新颖性并达到预期效果。A magnetic actuation system of an interventional surgical robot was studied,which is a new type of electromagnetic driving device that uses a mobile coil with a ferrous core to realize the magnetic driving in large space.By using the method of maximizing the magnetic field in the target region,the coil model's geometry was optimized and solved under the constraints of payload and heat dissipation.A Jacobian inverse matrix was added to the magnetic field measurement and control loop,and an on-line updating iterative mapping method was used to generate the required magnetic induction and gradients to drive the catheter motion at given values.Three magnetic field trajectories which are in a spherical workspace with a radius of 1300 mm were measured by Tesla meters and Hall effect sensors.The minimum intensity of magnetic induction is 20 mT,the maximum is 80 mT,and the gradient is 0.6 mT/mm.The device has a strong novelty and achieves the desired effect.

关 键 词：先进机器人 磁力操纵系统 非线性驱动 迭代映射 优化设计 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]