A. Battery Charging Efficiency
The charging efficiency of the wireless charging system is
an important parameter for the recharging time interval of the
robot. Higher charging efficiency will enable the robot to get
refreshed batteries in less time. The charging efficiency is
related to the relative position between the primary side coil
and the secondary side coil of the charging system. The
charging efficiency is tested in different distances and offsets
between the two coils. The test platform is shown in Fig. 15.
The transmitting circuit board and the primary side coil are
mounted on the base of the two-dimensional slipway. The
receiving circuit board and the secondary side coil are
mounted on the slider of the slipway. An ammeter is used to