微型磁纳米软体机器人的三维磁场模型及仿真

Three-dimensional Magnetic Field Model and Simulation of Miniature Magnetic Nanosoft Robot

针对微型磁纳米软体机器人多自由度驱动问题,利用坐标变换和磁场矢量叠加原理对3组正交的亥姆霍兹线圈的组合磁场模型进行研究,并采用COMSOL仿真软件对3组正交的亥姆霍兹线圈产生的均匀磁场和旋转磁场进行有限元仿真分析.3组线圈的仿真结果与理论分析相吻合,验证了所建数学模型的可靠性,为驱动微型磁纳米软体机器人提供了理论依据.

Aiming at the multi-degree-of-freedom driving problem of the miniature magnetic nanosoft robot,the combined magnetic field model of three groups of orthogonal Helmholtz coils is studied using the principle of coordinate transformation and magnetic vector superposition.The COMSOL simulation software is used to perform finite element simulation analysis on the uniform magnetic field and rotating magnetic field generated by three groups of orthogonal Helmholtz coils.The simulation results of the three sets of coils are consistent with the theoretical analysis,verifying the reliability of the mathematical model built,and providing a theoretical basis for driving the miniature magnetic nanosoft robot.