Free Angular-Positioning Wireless Power Transfer Using a Spherical Joint

Abstract

Many studies have investigated resonator structures and winding methods. The aims of this paper are as follows. First, the paper proposes an optimized winding model for a bio-inspired joint for a wireless power transfer (WPT) system. The joint consists of a small spherical structure, which rotates inside a hemispherical structure. The transmitter coil (Tx) is wound on the hemisphere structure, and the receiver coil (Rx) is wound on the small sphere. The power is transferred while rotating Rx over a wide range of angular misalignment. In addition, the algorithm design of the proposed winding method is given to get an optimized model. Moreover, the circuit analysis of the WPT system is discussed. Second, the magnetic field density is investigated considering a safety issue, which is linked to human exposure to electromagnetic fields (EMFs). Moreover, EMF mitigation methods are proposed and discussed in detail. Finally, the simulation results are validated by experiments, which have confirmed that the proposed winding method allows the system to rotate up to 85 degrees and achieve an efficiency above 86%. The proposed winding method for the WPT system can be a good technique for some robotic applications or a future replacement of the human joint.