Attracting Conductive Nonmagnetic Objects With Rotating Magnetic Dipole Fields
Attracting Conductive Nonmagnetic Objects With Rotating Magnetic Dipole Fields
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DOI：
10.1109/lra.2022.3194878
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发表时间：
2022-10
影响因子：
5.2
通讯作者：
Devin K. Dalton;G. Tabor;Tucker Hermans;J. Abbott
中科院分区：
文献类型：
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作者：
Devin K. Dalton;G. Tabor;Tucker Hermans;J. Abbott
最近的研究表明，由旋转磁偶极子场引起的涡流可以产生用于灵巧操纵导电物体的力和扭矩。这种控制模式显示出在空间碎片补救方面的应用前景。然而，来自每个场源的合成力总是包括排斥分量，这表明物体应该在一定程度上被场源包围，以确保物体在操纵期间不会离开灵巧工作空间。在这封信中，我们描述了多个场源以协调的方式一起工作以吸引未被包围的导电物体的能力，这让人想起牵引光束。这使得对象能够被拉入灵巧的操纵工作空间。我们明确地描述了球形物体上的标称吸引力，作为其他物体几何形状的近似，作为对象和场生成系统的属性的函数。我们使用水基微重力模拟器进行实验验证。
Recent research has shown that eddy currents induced by rotating magnetic dipole fields can produce forces and torques useful for dexterous manipulation of conductive nonmagnetic objects. This control paradigm shows promise for application in the remediation of space debris. However, the resulting force from each field source always includes a repulsive component, suggesting that the object should be surrounded by field sources to some degree to ensure the object does not leave the dexterous workspace during manipulation. In this letter, we describe the ability of multiple field sources working together in a coordinated fashion to attract conductive nonmagnetic objects that are not surrounded, reminiscent of a tractor beam. This enables an object to be pulled into a dexterous manipulation workspace. We explicitly describe the nominal attractive force on spherical objects, serving as an approximation for other object geometries, as a function of the properties of the object and the field-generation system. We perform experimental verification using a water-based microgravity simulator.