Kim Dongwook, Hwang Karam, Park Jaehyoung, Park Hyun Ho, Ahn Seungyoung
The Cho Chun Shik Graduate School for Green Transportation, Korea Advanced Institute of Science and Technology (KAIST), Daejeon 34141, Korea.
Department of Electronic Engineering, the University of Suwon, Hwaseong 18123, Korea.
Micromachines (Basel). 2017 Sep 1;8(9):269. doi: 10.3390/mi8090269.
This paper presents an efficient coil design for a mm-sized micro-robot which generates a propulsion force and torque and receives electrical energy using a wireless power transfer system. To determine the most efficient coil structures and produce propulsion and torque on the micro-robot, both helical and spiral coil modeling was conducted, and analytical formulations of the propulsion force and torque were derived for helical and spiral coil structures. Additionally, the dominant dimensional factors for determining propulsion and coil torque were analyzed in detail. Based on the results, an optimum coil structure for generating maximum force on the micro-robot was developed and is herein presented with dimensional analysis. Simulations and experiments were also conducted to verify the design, and good agreement was achieved. A 3-mm micro-robot that simultaneously generated a propulsion force and torque and received electrical energy via wireless power transfer was successfully fabricated using the proposed method and verified.
本文提出了一种用于毫米级微型机器人的高效线圈设计，该机器人利用无线电力传输系统产生推进力和扭矩并接收电能。为了确定最有效的线圈结构并在微型机器人上产生推进力和扭矩，对螺旋线圈和螺旋状线圈进行了建模，并推导了螺旋线圈和螺旋状线圈结构的推进力和扭矩的解析公式。此外，还详细分析了决定推进力和线圈扭矩的主要尺寸因素。基于这些结果，开发了一种用于在微型机器人上产生最大力的最佳线圈结构，并在此进行尺寸分析。还进行了仿真和实验以验证该设计，结果吻合良好。使用所提出的方法成功制造并验证了一个3毫米的微型机器人，该机器人可同时产生推进力和扭矩并通过无线电力传输接收电能。
