WO2023277237A1 - Système d'actionnement électromagnétique tridimensionnel - Google Patents

Système d'actionnement électromagnétique tridimensionnel Download PDF

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Publication number
WO2023277237A1
WO2023277237A1 PCT/KR2021/010602 KR2021010602W WO2023277237A1 WO 2023277237 A1 WO2023277237 A1 WO 2023277237A1 KR 2021010602 W KR2021010602 W KR 2021010602W WO 2023277237 A1 WO2023277237 A1 WO 2023277237A1
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WO
WIPO (PCT)
Prior art keywords
coil
dimensional electromagnetic
microrobot
dimensional
drive system
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PCT/KR2021/010602
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English (en)
Korean (ko)
Inventor
전승문
이학준
Original Assignee
공주대학교 산학협력단
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Publication of WO2023277237A1 publication Critical patent/WO2023277237A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J7/00—Micromanipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet

Definitions

  • the present invention relates to a three-dimensional electromagnetic drive system, and more particularly, by arranging four identical circular coils in a tetrahedral shape to form a small number of three-dimensional coil structures, thereby reducing the control space of a microrobot and improving power efficiency. It relates to a three-dimensional electromagnetic drive system that can be increased.
  • electromagnetic coils unlike permanent magnets, which are difficult to control magnetic fields, can conveniently control the magnetic field generated inside by adjusting the current input to the coil, so they are widely used in various devices such as motors, generators, and electromagnetic actuators.
  • a combination of a plurality of electromagnetic coils is required to generate various types of magnetic fields.
  • a Helmholtz coil or uniform saddle coil can create an axially uniform magnetic field inside, and a Maxwell coil or gradient saddle coil inside An axial gradient magnetic field may be generated, and a Golay coil may generate a lateral gradient magnetic field therein.
  • a conventional electromagnetic coil can generate only one type of magnetic field with one coil, and accordingly, in a device requiring multiple types of magnetic fields, the number of electromagnetic coils must be increased by the type of magnetic field required. In this case, a problem in that the device becomes more complicated and the size becomes larger may occur.
  • the above-mentioned problem is that the magnetic field generation efficiency of the device is also rapidly reduced. can drop
  • Korean Patent Registration No. 10-1450091 discloses an electromagnetic coil system for driving control of a microrobot, comprising: a pair of X-axis Helmholtz coils in which the winding central axis of the coil is placed on the X-axis; a pair of Y-axis Helmholtz coils in which the winding central axis of the coil is placed on the Y-axis; a position recognition system for detecting the position and direction of the microrobot on the workspace; A control unit for controlling the amount of current supplied to the X-axis Helmholtz coil or the Y-axis Helmholtz coil to control the movement of the micro-robot based on the micro-robot motion information obtained from the position recognition system and the input path information of the micro-robot; and a current amplifier supplying a corresponding current to each Helmholtz coil in response to a current control command from the control unit, wherein the pair of X-axis Helmholtz coils are disposed
  • the coils are disposed to face each other, and the X-axis Helmholtz coil and the Y-axis Helmholtz coil are vertically intersected to form a working space of the microrobot, and the control unit has the same size and direction as the rotation current and the same direction.
  • An electromagnetic coil system characterized by performing direction change and movement control of a microrobot by applying a current value obtained by overlapping these opposite propulsion currents to a pair of X-axis Helmholtz coils or a pair of Y-axis Helmholtz coils, respectively. about is disclosed.
  • the conventional technology as described above has a problem in that an effective space for utilizing a magnetic field is relatively small due to a geometrical problem of the coil system.
  • the present invention has been made to solve the above problems, and by arranging the same four circular coils in a tetrahedral shape to form a small number of three-dimensional coil structures, thereby reducing the control space of the microrobot and improving power efficiency. It is an object to provide a three-dimensional electromagnetic drive system that can be increased.
  • an object of the present invention is to provide a three-dimensional electromagnetic drive system in which the control range of the microrobot is increased and the state value of the coil is the same, so that the microrobot can be easily controlled.
  • an object of the present invention is to provide a three-dimensional electromagnetic drive system having a symmetrical structure with respect to the center of the system.
  • the first coil 110 and the second coil 120 maintain a constant angle with each other on the X, Y, and Z axes.
  • the third coil 130 and the fourth coil 140 are arranged in a tetrahedral shape, and a coil unit 100 having a working area formed therein; and a microrobot provided in the control space and whose movement is controlled by the magnetic field generated by the coil unit 100.
  • first coil 110, the second coil 120, the third coil 130, and the fourth coil 140 are characterized in that each radius and the number of wound coils are the same.
  • micro-robot is characterized in that a magnet is provided therein and driven by a magnetic field of the coil unit 100.
  • the three-dimensional electromagnetic drive system is characterized in that it includes a power supply for supplying a current value having the same current direction to the coil unit 100.
  • the power supply unit is connected to the control panel and simultaneously controls the current applied to the first coil 110, the second coil 120, the third coil 130 and the fourth coil 140. to be
  • the 3D electromagnetic drive system arranges four circular coils in a tetrahedral structure to form a 3D coil structure, thereby reducing the control space of the microrobot and increasing power efficiency.
  • controllable range of the microrobot is increased, and since the state values of the coils are the same, it is easy to control the microrobot.
  • FIG. 1 is a front view showing a three-dimensional electromagnetic drive system according to the present invention.
  • FIG. 2 is a plan view showing a three-dimensional electromagnetic drive system according to the present invention.
  • FIG. 3 is a view showing a driving state of a microrobot disposed in an external magnetic field.
  • FIG. 4 is a plan view and a front view showing a coordinate system of a three-dimensional electromagnetic drive system according to the present invention.
  • FIG. 5 is an exemplary view showing a coordinate system of a three-dimensional electromagnetic drive system according to the present invention.
  • the 3D electromagnetic driving system is for performing 3D position and direction control of a microrobot, and includes a coil unit 100 and a microrobot (not shown). do.
  • the coil unit 100 is a tetrahedron in which a first coil 110, a second coil 120, a third coil 130, and a fourth coil 140 maintain constant angles with each other on the X, Y, and Z axes. It is arranged and configured in shape.
  • the first coil 110, the second coil 120, the third coil 130, and the fourth coil 140 have the same shape as each other.
  • the second coil 120, the third coil 130, and the fourth coil 140 are arranged and configured in a tetrahedral shape, thereby having a symmetrical structure with respect to the center of the entire system.
  • a working area is formed inside the coil unit 100, and a microrobot is provided in the control space.
  • the first coil 110, the second coil 120, the third coil 130, and the fourth coil 140 have the same radius and the same number of wound coils.
  • the present invention can reduce the control space of the microrobot and increase power efficiency by arranging the same four circular coils in a tetrahedral shape to form a small number of three-dimensional coil structures.
  • the microrobot (not shown) is provided in the control space and its movement is controlled by a magnetic field generated by the coil unit 100 .
  • the microrobot has a magnet inside and is driven by the magnetic field of the coil unit 100 .
  • the three-dimensional electromagnetic driving system of the present invention includes a power supply unit (not shown) that supplies current values having the same current direction to the coil unit 100 .
  • the power supply unit is connected to a control panel (not shown) to simultaneously control currents applied to the first coil 110, the second coil 120, the third coil 130, and the fourth coil 140. .
  • a 3-dimensional electromagnetic drive system (Quartet of Electromagnetic Coils, QEC) according to the present invention forms a 3-dimensional coil structure by arranging four circular coils in a tetrahedral structure, which can be expressed by the following equation.
  • the three-dimensional electromagnetic drive system (QEC) of the present invention has a form in which four identical circular coils are arranged in a tetrahedral structure.
  • the global coordinate system (X) is defined based on the center of gravity of the three-dimensional electromagnetic drive system and the local coordinate system (Xk) is defined based on the center of each coil
  • the coordinate conversion relationship between the global coordinate system and the local coordinate system of coil k is As follows.
  • the magnetic moment of the microrobot is always parallel to the external magnetic field ( ⁇ ). Therefore, in order to control the alignment and translational motion of the microrobot, a desired three-dimensional magnetic field and magnetic force must be output. Assuming that the microrobot is placed on the center of gravity of the 3D electromagnetic driving system, the equation for controlling the 3D movement of the microrobot is as follows.
  • ⁇ and ⁇ mean the angle formed by the orthographic projection on the xy plane of the desired output with the x-axis, and the angle formed by the desired output with the z-axis, respectively.
  • the magnetic field generated by the burn coil at the periphery of the axis can be expressed by the following equation.
  • the magnetic field generated by the three-dimensional electromagnetic drive system is equal to the sum of the magnetic fields generated by each coil.
  • the total magnetic field generated by the three-dimensional electromagnetic drive system ( ) can be induced.
  • Equation 6 The gradient of the magnetic field distribution from Equation 6 is as follows.
  • class are respectively class to be.
  • Equation 5 the distribution of the magnetic field generated by the coil is proportional to the applied current. Therefore, it can be seen from Equations 8 and 9 that the magnetic field and magnetic force generated by the 3D electromagnetic driving system have a linear relationship with the current applied to each coil.
  • Equation 4 for controlling the three-dimensional motion of the microrobot can be expressed as a system of linear equations for the current applied to each coil.
  • A, I, Y are the coefficient matrix of current and output, respectively, and the current matrix applied to the three-dimensional electromagnetic drive system ( ), which means the desired output.

Abstract

La présente invention concerne un système d'actionnement électromagnétique tridimensionnel et, plus spécifiquement, un système d'actionnement électromagnétique tridimensionnel dans lequel les quatre mêmes bobines circulaires sont disposées en une forme tétraédrique pour former un petit nombre de structures tridimensionnelles de bobines, de telle sorte que l'espace de contrôle d'un micro-robot puisse être réduit et que son rendement énergétique puisse être accru. Le système d'actionnement électromagnétique tridimensionnel selon la présente invention comporte: une unité (100) de bobine qui est formée en disposant, dans une forme tétraédrique, une première bobine (110), une deuxième bobine (120), une troisième bobine (130) et une quatrième bobine (140) qui maintiennent des angles prédéterminés entre eux sur les axes X, Y et Z, et dans laquelle est formé un espace de contrôle (zone de travail); et un micro-robot placé dans l'espace de contrôle de telle sorte que son mouvement soit commandé au moyen d'un champ magnétique généré à travers l'unité (100) de bobine.
PCT/KR2021/010602 2021-07-02 2021-08-10 Système d'actionnement électromagnétique tridimensionnel WO2023277237A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020210086996A KR102291159B1 (ko) 2021-07-02 2021-07-02 3차원 전자기 구동 시스템
KR10-2021-0086996 2021-07-02

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WO2023277237A1 true WO2023277237A1 (fr) 2023-01-05

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04112305A (ja) * 1990-09-03 1992-04-14 Agency Of Ind Science & Technol 被駆動体の制御装置
KR20100136206A (ko) * 2009-06-18 2010-12-28 전남대학교산학협력단 3차원 전자기 구동장치
KR20130024236A (ko) * 2011-08-31 2013-03-08 전남대학교산학협력단 혈관치료용 마이크로로봇시스템 및 그 제어방법
KR101450091B1 (ko) * 2013-05-08 2014-10-14 한국과학기술연구원 마이크로 로봇의 구동 제어를 위한 전자기 코일 시스템
KR20150042117A (ko) * 2013-10-10 2015-04-20 재단법인대구경북과학기술원 2차원 평면에서 마이크로 로봇의 방향 제어장치
KR102274949B1 (ko) * 2020-01-09 2021-07-07 공주대학교 산학협력단 삼각형 구조를 갖는 전자기 코일 시스템

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04112305A (ja) * 1990-09-03 1992-04-14 Agency Of Ind Science & Technol 被駆動体の制御装置
KR20100136206A (ko) * 2009-06-18 2010-12-28 전남대학교산학협력단 3차원 전자기 구동장치
KR20130024236A (ko) * 2011-08-31 2013-03-08 전남대학교산학협력단 혈관치료용 마이크로로봇시스템 및 그 제어방법
KR101450091B1 (ko) * 2013-05-08 2014-10-14 한국과학기술연구원 마이크로 로봇의 구동 제어를 위한 전자기 코일 시스템
KR20150042117A (ko) * 2013-10-10 2015-04-20 재단법인대구경북과학기술원 2차원 평면에서 마이크로 로봇의 방향 제어장치
KR102274949B1 (ko) * 2020-01-09 2021-07-07 공주대학교 산학협력단 삼각형 구조를 갖는 전자기 코일 시스템

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