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Design and implementation of a magnetically suspended microrobotic pick-and-place system

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3 Author(s)
Shameli, Ehsan ; Department of Mechanical Engineering, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada ; Craig, David G. ; Khamesee, Mir Behrad

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Micromanipulation is an emerging technology in such diverse areas as precision engineering, microfabrication, and microsurgery. Each of these areas impose certain technological constraints and requirements in fabrication, actuation, and control. This paper performs a review on the latest technologies of microrobotic actuation techniques and suggests a suitable technique for the actuation of a magnetically levitated microrobot. The microrobot, suspended in an externally produced magnetic field, consists of a gripper attached to a series of permanent magnets and is capable of simple pick and place tasks. A number of electromagnets produce the external magnetic field and three laser sensors feedback the position of the levitated microrobot. Through finite element analysis, performance of the levitation system was investigated, and simulations and experiments were carried out to demonstrate the practical capabilities of the proposed system.

Published in:

Journal of Applied Physics  (Volume:99 ,  Issue: 8 )