Magnetic Methods in Robotics

As the author say, this is a thorough review, the paper is perfect. 本文非常非常详细地讲明了用于机器人领域的一些磁基础理论和推导整理过程。以及一些应用的推导整理过程。

在机器人技术领域中的磁理论
Magnetic Methods in Robotics [1]
Paper Link
Authors: Jack J. Abbott, etc.
2020, Annual Review of Control, Robotics, and Autonomous Systems

0. 摘要 Abstract

这篇文章的目标是对用于机器人技术中远程操作和无线驱动任务最新的磁理论提供一个彻底的介绍。这篇文章使用统一符号合成之前的工作，实现在机器人技术中的直接应用。文章以由磁材料和电磁铁产生的磁场的讨论开篇，磁材料如何在一个施加场中变磁化，和在磁物体上产生力和力矩。然后描述被用于产生和控制施加磁场的系统，包括电磁和永磁系统。最后，文章调查来自大量机器人应用领域的工作，研究人员在这些领域中已经使用磁理论，包括微机器人技术，医疗机器人技术，触觉技术和航天技术。
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. This paper synthesizes prior work using a unified notation, enabling straightforward application in robotics. The paper begins with a discussion of the magnetic fields generated by magnetic materials and electromagnets, how the 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 electromagnetic and permanenet-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.

1. 介绍 Introduction

我们主要的动力是提供一个坚实的在这个主题的指导，而不是一个文献的详细回顾。在这个方面，我们引用那些已经创造关键贡献的人。在这篇文章中，我们使用一个一致表示惯例来帮助读者快速辨别被表示量的类型。我们的惯例有时与先前工作中使用的惯例背道而驰。
Our primary motivation is to provide a solid tutorial on this topic rather than an exhaustive review of the literature. Along the way, we reference those who have made key contributions. Throughout the article, we use a consistent notation convention to help readers quickly discern the types of quantities being represented. Our conventions sometimes run counter to the conventions used in prior work.

然而，磁交互是极端复杂的，使得在除了最简单的所有系统中，闭形式的分析是挑战性的。例如磁阻和磁链的概念已经被开发在设计中提供帮助，但是这种系统的理解仍然严重依赖于有限元分析理论。在那些理论中的模型假设与这篇文章中的操纵或驱动问题的假设完全不同，这篇文章中的系统典型得拥有相对远隔开的部件。我们不进一步讨论传统磁设备，我们也不使用它们的专门设计和分析工具。
However, the magnetic interaction is extremely complex, making close-form analysis challenging in all but the simplest of systems. The concepts such as reluctance and flux linkage have been developed to aid in design, but the understanding of such systems still heavily relies on finite-element-analysis (FEA) methods. The modeling assumptions made in those methods are significantly different from those of the manipulation or actuation problems of interest in this paper, which typically have components spaced relatively far apart. We do not discuss traditional magnetic devices further, nor do we make use of their specialized design and analysis tools.

2. 由磁物体产生的磁场 Magnetic fields generated by magentic objects

在对maxwell方程组的简化后，在这个topic的应用中，有两个方程是成立的：

$$▽\cdot \mathbf{b}=0\to \frac{\partial b_x}{\partial x}+\frac{\partial b_y}{\partial y}+\frac{\partial b_z}{\partial z}=0.$$

$$▽\times \mathbf{b}=0\to \frac{\partial b_z}{\partial y}=\frac{\partial b_y}{\partial z},\frac{\partial b_x}{\partial z}=\frac{\partial b_z}{\partial x},\frac{\partial b_y}{\partial x}=\frac{\partial b_x}{\partial y}.$$

其中，$▽={\left[\frac{\partial }{\partial x}\frac{\partial }{\partial y}\frac{\partial }{\partial z}\right]}^T$。

2.1 磁偶极子模型 和 多极子拓展 Magnetic dipole model (approximation) and multipole expansion

磁偶极子模型：

b { r , m } = μ 0 4 π ∣ ∣ r ∣ ∣ 3 ( 3 r ^ r ^ T − I 3 ) m \mathbf{b}\{\mathbf{r},\mathbf{m}\}=\frac{\mu_{0}}{4\pi ||\mathbf{r}||^{3}}\left(3\hat{\mathbf{r}}\hat{\mathbf{r}}^{T}-\mathbf{I}_{3}\right)\mathbf{m} b{ r,m}=4π∣∣r∣∣3μ0​​(3r^r^T−I3​)m

有一个魔法角度，当$\mathbf{r}$和$\mathbf{m}$夹角大约为$54.7^{\circ }$时，$\mathbf{b}\perp \mathbf{m}$。

他们通常具有在他们的体积上相当均匀分布的磁强度。甚至项数很少的多极子扩展可以是相对于质心测量的磁场的精确近似。
They typically have a magnetic strength that is distributed fairly uniformly over the volume. A multipole expansion with even a small number of terms can be an accurate approximation of the magnetic field measured with respective to the center of mass.

b { r , m } = ( μ 0 4 π ∣ ∣ r ∣ ∣ 3 Γ 1 { r ^ } + μ 0 4 π ∣ ∣ r ∣ ∣ 5 Γ 2 { r ^ } + μ 0 4 π ∣ ∣ r ∣ ∣ 7 Γ 3 { r ^ } + ⋯   ) m \mathbf{b}\{\mathbf{r},\mathbf{m}\}=\left( \frac{\mu_{0}}{4\pi ||\mathbf{r}||^{3}} \Gamma_{1}\{\hat{\mathbf{r}}\} + \frac{\mu_{0}}{4\pi ||\mathbf{r}||^{5}} \Gamma_{2}\{\hat{\mathbf{r}}\} + \frac{\mu_{0}}{4\pi ||\mathbf{r}||^{7}} \Gamma_{3}\{\hat{\mathbf{r}}\} + \cdots \right)\mathbf{m} b{ r,m}=(4π∣∣r∣∣3μ0​​Γ1​{ r^}+4π∣∣r∣∣5μ0​​Γ2​{ r^}+4π∣∣r∣∣7μ0​​Γ3​{ r^}+⋯)m

注意这$\Gamma$矩阵是形状函数，与离源的距离无关。

2.2 来自于磁化物体的磁场 Magnetic fields from magnetized objects

由一个均匀磁化的球体产生的场被磁偶极子模型完美建模。任何其他几何形状需要多极子扩展。
The fild generated by a uniformly magnetizd sphere is modeled perfectly by the dipole model. Any other geometry requires the multipole expansion.

磁物体的场是同质的，这在系统设计中可以是有用的。如果我们考虑由给定几何形状和给定磁化量的磁物体产生的场，我们只缩放物体的尺寸，我们发现场映射随放缩的物体一起收缩或扩大。
The fields of magnetic objects are homothetic, this can be useful in system design. If we consider the field generated by a magnetic object of a given geometry and a given magnetization, and we scale only the size of the object, we can find that the field map shrinks or stretches with the scaled object.

同质性质的一个结果是，大磁铁投射它们的磁场在空间中比小磁铁更远，这结果是相当直观的。另一个结果是，如果我们考虑给定大小的磁场中的一个位置，我们发现在这场中的空间导数对于更大磁铁来说是更小的；这种情况是因为，用一个更大的磁铁的话，场在空间中变化更不快由于同质性质。这确实导致对于更大的磁铁来说，对放置在一个给定强度的场中的一个磁物体上产生更小的力，这也是违反直觉的。
One consequence of the homothetic property is that larger magnets project their fields farther into space than do small magnets, this results are quite intuitive. Another consequence is that if we consider a location in the magnetic field with some given magnitude, we find that the spatial derivatives in the field are smaller for larger magnets; this is the case because, with a larger magnet, the field is changing less rapidly in space due to the homothetic property. This actually leads to smaller forces being generated on a magnetic object placed in the field at a given strength for the larger magnet, which is counterintuitive.

2.3 来自于电流的磁场 Magnetic fields from electric currents

计算在位置${\mathbf{p}}_b$的磁场$\mathbf{b}$，电流$i$（单位为$A$），场微元differential field $d\mathbf{b}$，长度微元$d\mathbf{l}$，特定位置${\mathbf{p}}_{d\mathbf{l}}$：

b { p b , i } = ∫ d b = ∫ μ 0 4 π i d l × ( p b − p d l ) ∣ ∣ p b − p d l ∣ ∣ 3 = μ 0 i 4 π ∫ S { p d l − p b } ∣ ∣ p b − p d l ∣ ∣ 3 d l \mathbf{b}\{\mathbf{p}_{b},i\}=\int d\mathbf{b}=\int \frac{\mu_{0}}{4\pi} \frac{i d\mathbf{l} \times (\mathbf{p}_{b}-\mathbf{p}_{d\mathbf{l}})}{||\mathbf{p}_{b}-\mathbf{p}_{d\mathbf{l}}||^{3}}=\frac{\mu_{0}i}{4\pi} \int \frac{\mathbb{S}\{\mathbf{p}_{d\mathbf{l}}-\mathbf{p}_{b}\}}{||\mathbf{p}_{b}-\mathbf{p}_{d\mathbf{l}}||^{3}}d\mathbf{l} b{ pb​,i}=∫db=∫4πμ0​​∣∣pb​−pdl​∣∣3idl×(pb​−pdl​)​=4πμ0​i​∫∣∣pb​−pdl​∣∣3S{ pdl​−pb​}​dl

where S { v } = [ 0 − v z v y v z 0 − v x − v y v x 0 ] \mathbb{S}\{\mathbf{v}\}=\left[\begin{matrix} 0 & -v_{z} & v_{y} \\ v_{z} & 0 & -v_{x} \\ -v_{y} & v_{x} & 0 \end{matrix}\right] S{ v}=⎣⎡​0vz​−vy​​−vz​0vx​​vy​−vx​0​⎦⎤​。

任何能被多极子模型描述的物体的磁场，将有一个磁偶极子磁矩$\mathbf{m}$，

m { i } = i 2 ∫ S { p d l − p r e f } d l \mathbf{m}\{i\}=\frac{i}{2} \int \mathbb{S}\{\mathbf{p}_{d\mathbf{l}}-\mathbf{p}_{ref}\} d\mathbf{l} m{ i}=2i​∫S{ pdl​−pref​}dl

其中，${\mathbf{p}}_{ref}$是任意固定的参考点。对于一个半径为$r$的细线圆环， m { i } = π r 2 i a ^ \mathbf{m}\{i\}=\pi r^{2} i \hat{\mathbf{a}} m{ i}=πr2ia^，$\hat{\mathbf{a}}$是缠绕轴的方向。对于一个内径为 r i r_{i}