A novel low velocity robotic penetrator based on ampere force

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	A novel low velocity robotic penetrator based on ampere force
	Liu JG(刘金国); Zhang, Feiyu ; Feng JK(冯靖凯)
	2017
会议名称	10th International Conference on Intelligent Robotics and Applications, ICIRA 2017
会议日期	August 16-18, 2017
会议地点	Wuhan, China
关键词	Low velocity robotic penetrator Subsurface access technologies Electromagnetic actuator Ampere force
页码	613-623
通讯作者	Liu JG(刘金国)
中文摘要	The subsurface access technology is of great significance to study evolution of stars and probe landing, and the low velocity robotic penetrator (LVRP) is a commonly used detection technique. In this study, a novel LVRP based on ampere force (AFRP) is proposed, which uses the ampere force of the coils located in high intensity magnetic field as the driving force. The AFRP is composed of stator and mover. In the working state, the mover is subjected to a linear reciprocating motion, colliding with the stator, and displacement occurs. Firstly, parametric modeling of AFRP is carried out and the internal magnetic field distribution is analyzed. The results show that the magnetic induction between the two poles can be increased by the relative mounting of the permanent magnets, and the magnetic induction is affected by the gap and the diameter of the permanent magnets. Then, ISIGHT® software is used for integrated optimization, whose purpose is to optimize the design variables and make the output force of each unit reaches the maximum when the casing size of the AFRP is certain. Furthermore, to achieve the optimization design goal that the overall output force is maximum. According to the optimization results, the prototype was developed. The experimental results show that the AFRP operating frequency can be controlled in the range of 1, ~, 10, Hz, the average displacement of each motion cycle is 2, mm. The proposed AFRP can output a larger driving force by changing the current and the number of units. In addition, the AFRP can be used as a novel actuator for robots.
收录类别	EI
产权排序	1
会议录	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
会议录出版者	Springer Verlag
会议录出版地	Berlin
语种	英语
ISSN号	0302-9743
ISBN号	978-3-319-65288-7
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20869]
专题	沈阳自动化研究所_空间自动化技术研究室
作者单位	1.University of the Chinese Academy of Science, Beijing, 100049, China 2.The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
推荐引用方式 GB/T 7714	Liu JG,Zhang, Feiyu,Feng JK. A novel low velocity robotic penetrator based on ampere force[C]. 见:10th International Conference on Intelligent Robotics and Applications, ICIRA 2017. Wuhan, China. August 16-18, 2017.