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Model based maglev microrobotic motion control

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1 Author(s)
Robichaux, J.D. ; Southwest Res. Inst., Purdue Univ., Indianapolis, IN, USA

Exploratory laboratory investigations performed earlier in maglev microrobotics have initiated research to define an electromagnetic model and a mechanical model for precision model-based maglev motion control. An electromagnetic model was developed, and experiments were performed to validate the model for two types of active magnetic sources: a straight wire conductor and a flat printed-circuit-board trace. Two translational motion (one-dimensional) arrays were fabricated. A mechanical model was developed resembling the model of a spring-mass-damper system. High-speed motion videos were taken to measure actual displacements, velocities, and accelerations of a maglev microrobot in translational motion on each array. The experimental results confirmed both mechanical and electromagnetic models and to a large extent the use of printed-circuit board conductors to produce model-based translational motions

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991