A mechanism for three dimensional levitated movement of a small magnet

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI:10.1109/AMC.1996.509293

T. Nakamura, M. B. Khamesee

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Abstract

This paper deals with basic technologies for noncontact manipulation of small objects using magnets in micromachine applications. A small permanent magnet is manipulated by controlling a magnetic field applied to it. We propose a mechanism to control the magnetic field for the three-dimensional levitated movement of the object. The mechanism consists of eight electromagnets, pole-pieces to connect the magnetic poles, a soft iron yoke, and permanent magnets embedded in the yoke to compensate the gravity force of an object: a small permanent magnet. Regulation of magnetic field and as a result, motion of the object are deeply related to geometric design of the pole-piece. Various pole-pieces were designed and tested experimentally. Motion of the object in the vertical direction is realized by controlling the sum of the electromagnet-currents for the regulation of magnetic field gradient. Motion on the horizontal plane is realized by controlling the ratio of each electromagnet-current for the regulation of location of maximum magnetic field. The results of several experiments show that the proposed mechanism is effective.

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一种小磁铁的三维悬浮运动机构

本文讨论了在微机械应用中利用磁体对小物体进行非接触操作的基本技术。一个小的永久磁铁是通过控制施加在它上面的磁场来操纵的。我们提出了一种控制物体三维悬浮运动磁场的机制。该机构由八个电磁铁、连接磁极的极片、一个软铁轭和嵌入在轭中的永磁体组成，以补偿物体的重力:一个小型永磁体。磁场的调节和物体的运动与极片的几何设计密切相关。设计了多种杆件并进行了实验测试。物体在垂直方向上的运动是通过控制电磁电流之和来调节磁场梯度来实现的。通过控制各电磁电流的比值来调节最大磁场的位置，实现在水平面上的运动。实验结果表明，该机制是有效的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE

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