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

Volume

51

Issue

11

fYear

2015

Firstpage

1

Lastpage

4

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);

fLanguage

English

Journal_Title

Magnetics, IEEE Transactions on

Publisher

ieee

ISSN

0018-9464

Type

jour

DOI

10.1109/TMAG.2015.2440752

Filename

7117402