公开(公告)号：US09373443B2

公开(公告)日：2016-06-21

申请号：US14082473

申请日：2013-11-18

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Seung-Jong Kim ,  Jin Soo Kim ,  Jeonghoon Yoo

IPC: H01F38/14 ,  H01F7/20 ,  H02J7/16 ,  A61B1/00

CPC classification number: H01F38/14 ,  A61B1/00158 ,  H01F7/20 ,  Y10S901/23

Abstract: An electromagnetic coil system for driving control of a micro-robot includes pairs of X-axis and Y-axis Helmholtz coils whose winding central axes are placed on an X axis and Y axis respectively, a position recognition system that detects a position and direction of the micro-robot in a workspace, a controller that controls an amount of supply of electric currents flowing to the X-axis or Y-axis Helmholtz coils in order to control movement of the micro-robot based on information about the movement of the micro-robot and previously input information about a path of the micro-robot, and a current amplifier that supplies the electric currents to the respective Helmholtz coils. The pairs of X-axis and Y-axis Helmholtz coils are disposed so as to face each other, and the X-axis Helmholtz coils and the Y-axis Helmholtz coils are vertically crossed and installed so as to form the workspace of the micro-robot.

Abstract translation: 用于驱动微型机器人的控制的电磁线圈系统包括成对的X轴和Y轴亥姆霍兹线圈，其绕组中心轴分别位于X轴和Y轴上，位置识别系统检测位置和方向 工作空间中的微机器人，控制器，其控制流向X轴或Y轴亥姆霍兹线圈的电流供应量，以便基于关于微机器人的移动的信息来控制微机器人的移动 - 机器人和先前输入关于微机器人的路径的信息，以及将电流提供给各个亥姆霍兹线圈的电流放大器。 将X轴和Y轴的亥姆霍兹线圈配置为彼此相对，并且X轴亥姆霍兹线圈和Y轴亥姆霍兹线圈垂直交叉并安装以形成微型线圈的工作空间， 机器人。