Magnetic Methods in Robotics
Magnetic Methods in Robotics
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DOI：
10.1146/annurev-control-081219082713
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发表时间：
2020-01-01
期刊：
影响因子：
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通讯作者：
Petruska, Andrew J.
中科院分区：
文献类型：
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作者：
Abbott, Jake J.;Diller, Eric;Petruska, Andrew J.
本文的目的是提供一个全面的介绍，在机器人技术的远程操作和无线驱动任务的磁性方法的最新发展。本文使用统一的符号综合了以前的作品，使机器人技术的直接应用成为可能。它首先讨论了磁性材料和电磁铁产生的磁场，磁性材料如何在外加磁场中磁化，以及磁性物体上产生的力和扭矩。然后描述了用于产生和控制外加磁场的系统，包括电磁系统和永磁系统。最后，它调查了研究人员利用磁性方法的各种机器人应用领域的工作，包括微型机器人，医疗机器人，触觉和航空航天。
The goal of this article is to provide a thorough introduction to the state of the art in magnetic methods for remote-manipulation and wireless-actuation tasks in robotics. The article synthesizes prior works using a unified notation, enabling straightforward application in robotics. It begins with a discussion of the magnetic fields generated by magnetic materials and electromagnets, how magnetic materials become magnetized in an applied field, and the forces and torques generated on magnetic objects. It then describes systems used to generate and control applied magnetic fields, including both electromagnetic and permanent-magnet systems. Finally, it surveys work from a variety of robotic application areas in which researchers have utilized magnetic methods, including microrobotics, medical robotics, haptics, and aerospace.