机械-电磁混合驱动磁控微机器人系统设计

Design of magnetic-controlled microrobot driven system by mechanical-electromagnetic hybrid

设计了一种新型磁控微机器人驱动系统,采用机械-电磁混合驱动方式控制磁性微机器人在二维平面内进行任意方向的运动。对磁场发生装置和控制系统工作原理进行了详细论述,并进行了基于位置信息的自动控制实验。实验结果表明,机械-电磁混合驱动系统不仅结构简单,而且具有转向精度高、响应速度快等优点,验证了混合驱动系统的有效性,为磁控微机器人驱动系统的研制提供了新的思路。

A new magnetic-controlled microrobot drive system is designed, which adopts the mechanical-electromagnetic hybrid drive mode to control the magnetic microrobot to move in any direction in a two-dimensional plane. The working principle of the magnetic field generator and control system is discussed in detail, and the automatic control experiment based on position information is carried out. The experimental results show that the mechanical-electromagnetic hybrid drive system is not only simple in structure, but also has the advantages of high steering accuracy and fast response speed, which verifies the effectiveness of the hybrid drive system and provides a new idea for the development of the magnetic controlled microrobot drive system.