Modeling Magnetic Torque and Force for Controlled Manipulation of Soft-Magnetic Bodies
We calculate the torque and force generated by an arbitrary magnetic field on an axially symmetric soft-magnetic body. We consider the magnetization of the body as a function of the applied field, using a continuous model that unifies two disparate magnetic models. The continuous torque and force fo...
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| Veröffentlicht in: | IEEE transactions on robotics 2007-12, Vol.23 (6), p.1247-1252 |
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| container_issue | 6 |
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| container_title | IEEE transactions on robotics |
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| creator | Abbott, J.J. Ergeneman, O. Kummer, M.P. Hirt, A.M. Nelson, B.J. |
| description | We calculate the torque and force generated by an arbitrary magnetic field on an axially symmetric soft-magnetic body. We consider the magnetization of the body as a function of the applied field, using a continuous model that unifies two disparate magnetic models. The continuous torque and force follow. The model is verified experimentally, and captures the often neglected region between weak and saturating fields, where interesting behavior is observed. We provide the field direction to maximize torque for a given field magnitude. We also find an absolute maximum torque, for a given body geometry and material, which can be generated with relatively weak applied fields. This paper is aimed at those interested in systems-level analysis, simulation, and real-time control of soft-magnetic bodies. |
| doi_str_mv | 10.1109/TRO.2007.910775 |
| format | Article |
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We consider the magnetization of the body as a function of the applied field, using a continuous model that unifies two disparate magnetic models. The continuous torque and force follow. The model is verified experimentally, and captures the often neglected region between weak and saturating fields, where interesting behavior is observed. We provide the field direction to maximize torque for a given field magnitude. We also find an absolute maximum torque, for a given body geometry and material, which can be generated with relatively weak applied fields. 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We consider the magnetization of the body as a function of the applied field, using a continuous model that unifies two disparate magnetic models. The continuous torque and force follow. The model is verified experimentally, and captures the often neglected region between weak and saturating fields, where interesting behavior is observed. We provide the field direction to maximize torque for a given field magnitude. We also find an absolute maximum torque, for a given body geometry and material, which can be generated with relatively weak applied fields. This paper is aimed at those interested in systems-level analysis, simulation, and real-time control of soft-magnetic bodies.</description><subject>Applied sciences</subject><subject>Computer science; control theory; systems</subject><subject>Control systems</subject><subject>Control theory. 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We consider the magnetization of the body as a function of the applied field, using a continuous model that unifies two disparate magnetic models. The continuous torque and force follow. The model is verified experimentally, and captures the often neglected region between weak and saturating fields, where interesting behavior is observed. We provide the field direction to maximize torque for a given field magnitude. We also find an absolute maximum torque, for a given body geometry and material, which can be generated with relatively weak applied fields. This paper is aimed at those interested in systems-level analysis, simulation, and real-time control of soft-magnetic bodies.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/TRO.2007.910775</doi><tpages>6</tpages></addata></record> |
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| issn | 1552-3098 1941-0468 |
| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Applied sciences Computer science control theory systems Control systems Control theory. Systems Ellipsoid Exact sciences and technology Force control Intelligent robots magnetic actuation Magnetic anisotropy Magnetic fields Magnetic materials Magnetization Mathematical models Perpendicular magnetic anisotropy Real time Robotics Robots Saturation magnetization shape anisotropy Shape control Simulation Soft magnetic materials Torque Torque control uniaxial symmetry wireless microrobot |
| title | Modeling Magnetic Torque and Force for Controlled Manipulation of Soft-Magnetic Bodies |
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