Design And Implementation Of A Wireless Powered Mechanical Arm Based On Magnetically Coupled Resonance

Wireless power transfer(WPT)technology has always been the focus point of researchers.It has no wire constraint.And it is safer,more reliable,more flexible and convenient than the traditional way.Magnetic coupling resonant wireless power transfer(MCR-WPT)technology has the advantages of high efficiency,low electromagnetic radiation and medium-distance transmission.It is closer to people’s daily life.Therefore,MCR-WPT technology is a research hotspot.On the other hand,technology is developing rapidly in today’s society,the application and rise of artificial intelligence has brought great convenience to our lives.The use of robotic arms is becoming more and more common in modern society.Based on MCR-WPT technology,this paper develops a multi-joint type mechanical arm with wireless power supply at each joint to solve some negative problems caused by traditional robot arm.The main research contents are as follows:(1)The main parameters such as the parameters of the coil,the coupling coefficient between the coils and the quality factor of the coil in the MCR-WPT system are expounded.The MCR-WPT system is analyzed from two aspects: coupled mode theory and circuit theory.This paper analysis four topologies of the MCR-WPT system.(2)Introduce the type of existing mechanical arm.Designed a multi-resonator wireless power transfer system for the multi-joint type robot arm,and proposed a new combined coil structure,which can make the mutual inductance of the coil keeps changing within a small range during the rotation of the joint of the robot arm.Then the load-independent output voltage characteristic is analyzed in detail through the circuit theory and K inverter theory.The combined coil structure and the insertion of the K inverter can make the each joint of the robot arm transmit electrical energy stably.The scalable characteristic of the system is further analyzed.(3)Using the method of software simulation and experimental verification,the MCR-WPT system proposed in this paper is analyzed and verified.The results show that the load voltage at each joint of the robot arm is independent when the loads change.It is related to the mutual inductance and circuit parameters at each joint.The combined coil structure make the mutual inductance at each joint vary within a small range.So the voltage of each load varies within a small range.(4)After the output voltage of each resonator is rectified and filtered,the voltage is connected to the steering gear and the servo controller at the joint to make it work normally.The joint servo controllers are debugged so that they can be controlled by mobile phone.This mechanical arm with wireless power transfer achieves the desired results after test.