Motion control of a large gap magnetic suspension system for microrobotic manipulation

Magnetic suspension systems have shown a great deal of promise in the field of microrobotics. This paper discusses the performance of a new large gap magnetic suspension system developed by the researchers. The magnetic drive unit consists of six electromagnets attached to a soft iron pole piece and...

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Bibliographic Details
Published inJournal of physics. D, Applied physics Vol. 40; no. 11; pp. 3277 - 3285
Main Authors Craig, David, Behrad Khamesee, Mir
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 07.06.2007
Institute of Physics
Subjects
Applied sciences
Computer science; control theory; systems
Control theory. Systems
Electrical engineering. Electrical power engineering
Electrical machines
Exact sciences and technology
Regulation and control
Robotics
Performance evaluation
Prototype
Magnetic drive
Levitation
Pole piece
Robotics
Electromagnet
Drive mechanism
Micromanipulation
Root mean square value
Motion control
Differential integral proportional control
Magnetic suspension
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Summary:Magnetic suspension systems have shown a great deal of promise in the field of microrobotics. This paper discusses the performance of a new large gap magnetic suspension system developed by the researchers. The magnetic drive unit consists of six electromagnets attached to a soft iron pole piece and yoke. Levitation of an 11.19 g microrobot prototype is demonstrated for step, ramp and periodic input trajectories using PID control. The working envelope of the microrobot is 30 X 22 X 20 mm3, with an RMS error on the order of 18 mum in the vertical direction and 8 mum in the horizontal direction. It is demonstrated that the levitated microrobot is able to track the desired trajectory precisely and that the system has potential application for micromanipulation.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0022-3727
1361-6463
DOI:10.1088/0022-3727/40/11/004