scholarly journals Rotor Posture Measurement of a Spherical Motor applying Pattern Matching of Magnetic Field

2021 ◽  
Vol 29 (2) ◽  
pp. 434-439
Author(s):  
Daichi SETA ◽  
Akio GOFUKU ◽  
Tomoaki YANO ◽  
Nagayoshi KASASHIMA
Keyword(s):  
Magnetic Field ◽  
Pattern Matching ◽  
Spherical Motor ◽  
Posture Measurement

scholarly journals Design of a Laparoscopic Robot System Based on Spherical Magnetic Field

2019 ◽  
Vol 9 (10) ◽  
pp. 2070
Author(s):  
Hongxing Wei ◽  
Kaichao Li ◽  
Dong Xu ◽  
Wenshuai Tan
Keyword(s):  
Magnetic Field ◽  
Control Method ◽  
Open Loop ◽  
Surgical Instruments ◽  
Prototype System ◽  
Single Incision Laparoscopic Surgery ◽  
Robot System ◽  
Surgical Incision ◽  
Spherical Motor ◽  
External Driving

In single incision laparoscopic surgery (SILS), because the laparoscope and other surgical instruments share the same incision, the interferences between them constrain the dexterity of surgical instruments and affect the field of views of the laparoscope. Inspired by the structure of the spherical motor and the driving method of an intraocular micro robot, a fully inserted laparoscopic robot system is proposed, which consists of an inner laparoscopic robot and external driving device. The position and orientation control of the inner laparoscopic robot are controlled by a magnetic field generated by the driving device outside the abdominal wall. The instrumental interferences can be alleviated and better visual feedback can be obtained by keeping the laparoscopic robot away from the surgical incision. To verify the feasibility of the proposed structure and explore its control method, a prototype system is designed and fabricated. The electromagnetism model and the mechanical model of the laparoscopic robot system are established. Finally, the translational, rotational, and deflection motion of the laparoscopic robot are demonstrated in practical experiment, and the accuracy of deflection motion of the laparoscopic robot is verified in open-loop condition.

scholarly journals Multi-Objective Optimization of the Halbach Array Permanent Magnet Spherical Motor Based on Support Vector Machine

Energies ◽  
2020 ◽  
Vol 13 (21) ◽  
pp. 5704
Author(s):  
Hongfeng Li ◽  
Lifeng Cui ◽  
Zigang Ma ◽  
Bin Li
Keyword(s):  
Magnetic Field ◽  
Support Vector Machine ◽  
Air Gap ◽  
Moment Of Inertia ◽  
Support Vector ◽  
Spherical Motor ◽  
Halbach Array ◽  
Waveform Distortion ◽  
Air Gap Magnetic Field ◽  
Distortion Rate

The fundamental harmonic amplitude and waveform distortion rate of the air-gap flux density directly affect the performance of a permanent magnet spherical motor (PMSM). Therefore, in the paper, the axial air-gap magnetic field including the end leakage of the Halbach array PMSM is analyzed and optimized. In order to reduce the calculation time of the objective function, the air gap magnetic field model adopts a non-linear regression model based on support vector machine (SVM). At the same time, the improved grid search (GS) algorithm is used to optimize the parameters of SVM model, which improves the efficiency and accuracy of parameter optimization. Considering the influence of moment of inertia on the dynamic response of the motor, the moment of inertia of the PMSM is calculated. This paper takes the air gap magnetic density fundamental wave amplitude, waveform distortion rate and rotor moment of inertia as the optimization objectives. The particle swarm optimization (PSO) algorithm is used to optimize the motor structure with multiple objectives. The optimal structure design of the PMSM is selected from all of non-dominated solutions by the technique for order preference by similarity to an ideal solution (TOPSIS). The performance of the motor before and after the optimization is analyzed by the method of finite element (FEM) and experimental verification. The results verify the effectiveness and efficiency of the optimization method for the optimal structure designing of the complex PMSM.

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