A novel low velocity robotic penetrator based on ampere force
文献类型：会议论文
| 作者 | Liu JG(刘金国) ; Zhang, Feiyu; Feng JK(冯靖凯)
|
| 出版日期 | 2017 |
| 会议名称 | 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017 |
| 会议日期 | August 16-18, 2017 |
| 会议地点 | Wuhan, China |
| 关键词 | Low velocity robotic penetrator Subsurface access technologies Electromagnetic actuator Ampere force |
| 页码 | 613-623 |
| 通讯作者 | Liu JG(刘金国) |
| 中文摘要 | 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. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
 |
| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-319-65288-7 |
| 源URL | [http://ir.sia.cn/handle/173321/20869]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 作者单位 | 1.University of the Chinese Academy of Science, Beijing, 100049, China 2.The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China |
| 推荐引用方式 GB/T 7714 | Liu JG,Zhang, Feiyu,Feng JK. A novel low velocity robotic penetrator based on ampere force[C]. 见:10th International Conference on Intelligent Robotics and Applications, ICIRA 2017. Wuhan, China. August 16-18, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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