OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation

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最新推荐文章于 2024-06-30 23:32:01 发布

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分类专栏： actuation WCE

本文链接：https://blog.csdn.net/qq_33188388/article/details/104103373

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OctoMag是一个电磁系统，设计用于5自由度（5-DOF）的无线微操作。该系统采用固定电磁铁，避免了移动部件，具有安全性和故障安全性。通过控制一组电磁铁，实现对磁性微机器人的5D无线控制。文章详细介绍了设计目标、控制系统、电磁铁配置、系统实现和性能表征。特别强调了系统的可预计算磁场、工作空间的近似各向同性和对磁力的控制。

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用于5D控制的电磁线圈组驱动系统，非常典型的设计，有详细的推导/建模，设计/制造过程。主要是突出5D控制，在使用过程中的位置闭环是靠视觉直接观察（人工闭环）。这篇文章提出的framework非常有借鉴意义，是很多类似电磁驱动系统的参考。

OctoMag: 用于5自由度无线微操作的一个电磁铁系统
OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation [1]
Paper Link
Authors: J. J. Abbott, etc.
2010, TRO IEEE Transactions on Robotics

目录 outline

1. 介绍 Introduction
2. 用固定电磁铁控制 Control with stationary electromagnets
3. 电磁铁配置的设计Design of the electromagnet configuration
4. 系统实现 System implementation
5. 系统表征 System characterization

1. 介绍 Introduction

OctoMag的设计有如下一些基本目标。
（1）固定电磁铁因它们安全被选择：它们不需要移动部件来控制场强度，它们是惰性的当断电，并且它们是故障安全的，在发生断电的情况下，微机器人在自身重力的作用下简单漂移下滑。软磁核心被选择而不是空气核心因为它们创造大约20倍强的磁场。与空气核心电磁铁相反的是，它们的单独磁场不是线性叠加的，这使建模和控制复杂化了。但是，正如我们将展示的，如果它们在它们的线性磁化区域内被操作的话，由高性能软磁材料制作的核心在建模和控制上强加了只有一个非常小的限制，基于实际能量限制来说，这最够大了。
（2）微机器人控制通常依赖于完全环绕工作区域的系统，比如电磁线圈组的正交排列，这在技术上很难按比例放大到体内设备控制所需的尺寸。
（3）这需要一个可用工作空间尺寸为25mm直径的球形，与一个人类眼睛的内体积一致，并且它需要一个更大的开放空间在电磁铁之间来安放一个小型动物头部。最终决定，一个直径为130mm的球形就足够了。
（4）工作空间应是几乎各向同性的，有能力来生成足够的磁力在任何微机器人位姿的任何方向。
The design of OctoMag began with a few goals as follows.
(1) Stationary electromagnets were chosen for their safety: they do not require moving parts to control field strength, they are inert when powered down, and their are fail-safe, in that the microrobo simply drifts down under its own weight in the event of power failure. Soft-magnetic cores were chosen over air cores because they create a field that is approximately 20 times stronger. As opposed to air-core electromagnets, their individual fields do not linearly superimpose, wich complicates modeling and control. However, as we will show, cores made of high-performance soft-magnetic material impose only a very minor constraint on modeling and control if they are operated within their linear magnetization region, which is sufficiently large based on practical power limits.
(2) Microrobot control has typically relied on systems that fully surround the workspace, such as orthgonal arrangments of electromagnetic coil pairs, which are technically difficult to scale up to the size that wound be required for control of in-vivo devices.
(3) This required a usable workspace the size of a 25-mm-diameter sphere, corresponding to the interior volume of a human eye, and it required a larger open volume between the electromagnets to accodamate a small animal head. It was determined that a sphere of diameter130 mm would suffice.
(4) The workspace should be nearly isotropic, with the ability to generate sufficient magnetic forces in any direction with any microrobot pose.

这是开放性设计问题被解决通过首先解决控制系统问题：给定一个任意数量的固定电磁铁在一个任意配置下，用于磁性微型机器人的5D控制的一个可行控制系统是什么？这是SectionII的主题。使用这最终控制系统，结果系统的表现被考虑来优化电磁铁配置的设计；这在SectionIII中被讨论。在完成电磁铁配置和考虑期望的工作区域尺寸后，机电部件被设计；这在SectionIV中是详细的。系统被表征在SectionV中。SectionVI表现在自动化和远程运行控制模式下的OctoMag的能力。在SectionVII,系统被用来做了一次动物实验。
This open-ended design problem was approached by first solving the control system problem: given an arbitrary number of stationary electromagnets in an arbitrary configuration, what is a viable control system for 5D control of magnetic microrobot? This is the topic of Section II. Using this final control system, the performance of the resulting system is considered to optimize the design of the electromagnet configuration; this is discussed in Section III. After finalizing the electromagnet configuration, and considering the desired workspace size, the mechatronic components were designed; this is detailed in Section IV. The system is characterized in Section V. Dection VI demonstrates the capabilities of OctoMag in both autonomous and teleoperation control modes. In Section VII, the system is used to conduct an animal experiment.

2. 用固定电磁铁控制 Control with stationary electromagnets

目标是进行相对于一个参考的静止世界系的一个磁微机器人的5D无线控制。
The goal is to perform 5D wireless control of a magnetic microrobot with respect to a stationary world frame of reference.

The magnetic torque:

$\mathbf{T}=\mathbf{M}\times\mathbf{B}==Sk(\mathbf{M})\mathbf{B} \tag{1}$

where,

$\mathbf{M}=Sk\left(\left[\begin{matrix}m_{x}\\m_{y}\\m_{z}\end{matrix}\right]\right)=\left[\begin{matrix}0&-m_{z}&m_{y}\\m_{z}&0&-m_{x}\\-m_{y}&m_{x}&0\end{matrix}\right] \tag{2}$

The magnetic force:

$\mathbf{F}=\bigtriangledown(\mathbf{M}\cdot\mathbf{B}) \tag{3}$

以一个更直观的形式：
In a more intuitive form:

$\mathbf{F}=\left[\begin{matrix} \frac{\partial \mathbf{B}}{\partial x} \\ \frac{\partial \mathbf{B}}{\partial y} \\ \frac{\partial \mathbf{B}}{\partial z} \end{matrix}\right]\mathbf{M} \tag{4}$

在一个电磁铁的给定静态排布下，每个电磁铁创造一个在整个工作空间中的可以被预先计算的磁场。在工作空间中的任何给定点 $\mathbf{P}$ ，由于驱动一个给定电磁铁的磁场能被表述为向量 $\mathbf{B}_{e}(\mathbf{P})$ ，它的大小随穿过电磁铁的电流线性变化，并且，因此，可以被描述为一个单位电流向量被一个标量电流值相乘：
With a given static arrangement of electromagnets, each electromagnet creates a magnetic field throughout the workspace, which can be precomputed. At any given point $\mathbf{P}$ in the workspace, the magnetic field due to actuating a given electromagnet can be expressed by the vector $\mathbf{B}_{e}(\mathbf{P})$ , whose magnitude varies linearly with the current through the electromagnet, and, as such, can be described as a unit-current vector multiplied by a scalar current value: