Magnetic levitated high precision positioning system based on antagonistic mechanism

Author

Park, Kyihwan ; Choi, Kee-Bong ; Kim, Soo-Hyun ; Kwak, Yoon

Author_Institution

Dept. of Mechatronics, Kwangju Inst. of Sci. & Technol., Kwangju, North Korea

Volume

32

Issue

1

fYear

1996

fDate

1/1/1996 12:00:00 AM

Firstpage

208

Lastpage

219

Abstract

A six degree-of-freedom magnetically levitated high precision micro positioning system is designed to get rid of the friction which is one of the important factors limiting the resolution and accuracy of positioning devices. Since magnetic levitation systems are inherently unstable, most of the emphasis is placed on a magnetic circuit design so as to increase the system dynamic stability. For this, the proposed levitation system is constructed by using an antagonistic structure which permits a simple design and robust stability. From the dynamic equations of motion, it is verified that the proposed magnetic levitation system is internally stable in 5 degree-of-freedom. Experimental results of motion of free vibration are presented to verify the proposed modeling method

Keywords

magnetic circuits; magnetic levitation; position control; robust control; antagonistic mechanism; dynamic stability; free vibration; magnetic circuit design; magnetically levitated system; positioning system; robust stability; Automatic control; Automation; Electromagnetic forces; Friction; Large-scale systems; Magnetic levitation; Magnetic separation; Manipulator dynamics; Payloads; Wrist;

fLanguage

English

Journal_Title

Magnetics, IEEE Transactions on

Publisher

ieee

ISSN

0018-9464

Type

jour

DOI

10.1109/20.477573

Filename

477573