面向机器人触力觉感知的磁场解析与仿真
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桂美将,周小虎,谢晓亮,刘市祺,李浩,王晋利,侯增广
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Analysis and simulation of magnetic field for robot tactile perception
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Mei-jiang GUI,Xiao-hu ZHOU,Xiao-liang XIE,Shi-qi LIU,Hao LI,Jin-li WANG,Zeng-guang HOU
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表 2 磁感应强度仿真值与理论值 |
Tab.2 Simulation and theoretical values of magnetic induction intensity |
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$ d/ $mm | $ {B}_{\mathrm{c}}/\mathrm{m}\mathrm{T} $ | $ {B}_{\mathrm{t}}/\mathrm{m}\mathrm{T} $ | ${E}_{\mathrm{m} }$/% | N=16 | N=32 | N=48 | N=64 | N=80 | N=96 | N=112 | N=128 | N=144 | 0.10 | 540.14 | 551.03 | 552.52 | 553.54 | 553.32 | 553.77 | 553.89 | 553.94 | 553.90 | 572.16 | 3.18 | 0.20 | 541.16 | 551.57 | 553.85 | 554.38 | 554.59 | 554.72 | 554.91 | 555.00 | 555.07 | 573.60 | 3.23 | 0.30 | 543.58 | 554.12 | 556.08 | 556.49 | 557.08 | 557.19 | 557.36 | 557.52 | 557.75 | 576.16 | 3.20 | 0.40 | 546.79 | 557.38 | 559.01 | 560.24 | 560.38 | 560.73 | 560.76 | 560.94 | 560.81 | 579.99 | 3.29 | 0.50 | 550.85 | 561.47 | 563.56 | 564.30 | 564.60 | 564.52 | 564.86 | 564.92 | 565.02 | 585.25 | 3.46 | 0.60 | 557.21 | 566.69 | 569.89 | 570.76 | 571.01 | 571.15 | 571.29 | 571.30 | 571.31 | 592.13 | 3.52 | 0.70 | 565.92 | 576.82 | 578.92 | 579.75 | 579.87 | 580.08 | 579.92 | 580.23 | 580.48 | 600.84 | 3.39 | 0.80 | 575.28 | 586.54 | 588.57 | 589.37 | 589.44 | 589.60 | 589.83 | 589.90 | 589.98 | 611.62 | 3.54 | 0.90 | 587.83 | 599.18 | 603.12 | 602.14 | 602.42 | 602.70 | 602.67 | 602.67 | 602.72 | 624.74 | 3.46 | 1.00 | 602.58 | 614.23 | 616.54 | 617.39 | 617.55 | 618.15 | 617.91 | 618.02 | 618.38 | 640.50 | 3.45 | 1.10 | 620.49 | 632.49 | 634.79 | 635.50 | 635.96 | 636.26 | 636.14 | 636.26 | 636.48 | 659.26 | 3.46 | 1.20 | 641.58 | 653.93 | 656.20 | 657.08 | 657.35 | 657.83 | 657.79 | 658.04 | 657.93 | 681.43 | 3.43 | 1.30 | 666.77 | 679.59 | 682.13 | 683.13 | 683.35 | 683.54 | 683.64 | 683.73 | 683.75 | 707.47 | 3.35 | 1.40 | 695.35 | 708.90 | 711.46 | 712.31 | 712.66 | 712.82 | 713.40 | 713.34 | 713.41 | 737.94 | 3.32 | 1.50 | 729.39 | 743.55 | 746.09 | 747.10 | 747.75 | 747.71 | 748.19 | 748.05 | 748.10 | 773.48 | 3.27 |
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