Title :
Generation of Magnetic Propulsion Force and Torque for Microrobot Using Wireless Power Transfer Coil
Author :
Dongwook Kim ; Jaehyoung Park ; Hyun Ho Park ; Seungyoung Ahn
Author_Institution :
Cho Chun Shik Grad. Sch. for Green Transp., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea
Abstract :
In this paper, we propose a microrobot powered by wireless power transfer (WPT) system which can generate propulsion force and torque as well as electrical energy to perform complex missions. The magnetic field and the induced current from the WPT coils can be utilized into the propulsion force and the Lorentz force for implementing rotational movement. The generated propulsion force and the torque are verified by 3-D finite-element simulations and experimental measurements.
Keywords :
coils; finite element analysis; force control; microrobots; mobile robots; torque control; 3D finite-element simulation; Lorentz force; WPT coil; WPT system; complex mission; electrical energy; generated propulsion force; magnetic field; magnetic propulsion force; magnetic propulsion torque; microrobot; propulsion force and torque; wireless power transfer coil; Force; Lorentz covariance; Magnetic fields; Marine vehicles; Propulsion; Torque; Wireless communication; Coil; Micro-robot; Propulsion; Torque; Wireless power transfer (WPT); microrobot; propulsion; torque; wireless power transfer (WPT);
Journal_Title :
Magnetics, IEEE Transactions on
DOI :
10.1109/TMAG.2015.2440752
