Leong, F, Mohammadi, A, Tan, Y et al. (3 more authors) (2017) Magnetic Interactions of Neighbouring Stator Sets in Multi DOF Local Electromagnetic Actuation for Robotic Abdominal Surgery. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE/RSJ IROS 2017, 24-28 Sep 2017, Vancouver, Canada. IEEE ISBN 978-1-5386-2682-5
Abstract
This paper aims to characterise the magnetic interaction in neighbouring sets of local electromagnetic actuation (LEMA) actuators in a robotic platform for abdominal surgery. The analysis looks into the affect of the magnetic fields contributed by a stator-rotor set (the actuation unit) located adjacent to the rotor of interest. Each rotor drives one of the degree-of-freedoms (DOFs) on a surgical robotic device. In this study, a two-DOF setup is used for the magnetic interaction analysis, which can be expanded to general case n-DOF setup with the Principle of Superposition of magnetic fields from multiple sources. The magnetic model is then used to compute the dynamics of the system, which involves the equation of motion of the rotors and associated robotic mechanism it drives, and the actuator (electrical) model that takes into account the back EMF generated by the permanent magnet rotors. The magnetic field effect of the neighbouring set onto the rotor is observed by obtaining the speed response of the rotor through simulation so that the dynamic model can be validated against the experimental results. The outcomes are useful for the design specification of the LEMA system configuration, involving the feasible / pragmatic distance between the stator sets such that the interference is minimised, and for the design of the necessary control strategy.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | (c) 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. https://doi.org/10.1109/IROS.2017.8206463 |
Keywords: | Stators; Rotors; Robots; Magnetic devices; Mathematical model; Permanent magnets; Electromagnetics |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) |
Funding Information: | Funder Grant number Royal Society wm150122 |
Depositing User: | Symplectic Publications |
Date Deposited: | 11 Aug 2017 09:56 |
Last Modified: | 21 Mar 2018 02:26 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/IROS.2017.8206463 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:120024 |