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A novel low velocity robotic penetrator based on ampere force
Feng JK(冯靖凯); Liu JG(刘金国); Zhang, Feiyu
作者部门空间自动化技术研究室
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
会议录名称Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
出版者Springer Verlag
出版地Berlin
2017
页码613-623
收录类别EI
EI收录号20173504095514
产权排序1
ISSN号0302-9743
ISBN号978-3-319-65288-7
关键词Low Velocity Robotic Penetrator Subsurface Access Technologies Electromagnetic Actuator Ampere Force
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.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20869
专题空间自动化技术研究室
通讯作者Liu JG(刘金国)
作者单位1.The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of the Chinese Academy of Science, Beijing, 100049, China
推荐引用方式
GB/T 7714
Feng JK,Liu JG,Zhang, Feiyu. A novel low velocity robotic penetrator based on ampere force[C]. Berlin:Springer Verlag,2017:613-623.
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