Wirelessly Powered Coil-Type Robot with 2D Translational and 1D Rotational Self-Actuation Ability

摘要

In this paper, a new type of system in which a mover can actuate itself and regulate its DC-link voltage with wirelessly transferred power is proposed. The system is composed of two orthogonal stators and a mover which also has two orthogonal coils wound on it. The stators synthesize steady magnetic field in the control area by controlling three currents of different frequencies. Each stator controls one AC current, and one of the stators controls a DC current together. Using the property that a magnetized object receives force and torque in a magnetic field, the mover actuates itself by modifying its magnetic moment in the steady magnetic field generated by stators. The DC field is used for alignment of the mover, two AC fields are used for controlling the translational movement of the mover, and one of the AC fields is also utilized for supplying the power consumed on the mover. The proposed actuation system and control method are verified with a simulation.