A Novel Low Velocity Robotic Penetrator Based on Ampere Force
A Novel Low Velocity Robotic Penetrator Based on Ampere Force
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DOI：
10.1007/978-3-319-65298-6_55
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发表时间：
2017-08
期刊：
影响因子：
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通讯作者：
Jingkai Feng;Jinguo Liu;Feiyu Zhang
中科院分区：
文献类型：
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作者：
Jingkai Feng;Jinguo Liu;Feiyu Zhang
地下探测技术对研究恒星演化和探测器着陆具有重要意义，而低速机器人穿透器（LVRP）是一种常用的探测技术。在这项研究中，提出了一种新的基于安培力的LVRP（AFRP），它利用位于强磁场中的线圈的安培力作为驱动力。AFRP由定子和动子组成。在工作状态下，动子作直线往复运动，与定子碰撞，产生位移。首先，对AFRP进行了参数化建模，分析了AFRP内部磁场分布。结果表明，永磁体的相对安装可以增加两极间的磁感应强度，磁感应强度受永磁体的差距和直径的影响。然后利用ISIGHT®软件进行综合优化，目的是在AFRP壳体尺寸一定的情况下，优化设计变量，使各单元输出力达到最大。进而达到整体输出力最大的优化设计目标。根据优化结果，研制了样机。实验结果表明，AFRP的工作频率可控制在1 ~ 10 Hz范围内，每个运动周期的平均位移为2 mm。通过改变电流大小和单元数目，可以获得更大的驱动力。此外，AFRP可以用作一种新型的机器人驱动器。
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.