Research of inarticulate micro-manipulator robot driven by magnetic levitation force

Author

Tie, Zhang ; Lin, Li ; Cunxi, Xie

Author_Institution

Mechanical Eng. Coll., South China Univ. of Technol., Guangzhou, China

Volume

6

fYear

2004

fDate

10-13 Oct. 2004

Firstpage

5221

Abstract

A new kind of micro-manipulator for robot is proposed in this paper. The robot is driven by magnetic force of electric magnet. At first, the structure and principle of this single degree of freedom micro-manipulator robot is discussed. Then, structure and principle of the micromanipulator robot is researched in detail. The manipulator is levitated between twelve electric magnets, so the robot is inarticulate robot. The construction of the robot is simple, easy manipulated and high precision. And the control system of the robot is studied, includes hardware of the control system and fuzzy cerebella model articulation controller (FCMAC) control system. The hardware of the control system mainly includes DSP, computer, and power amplifier circuit and displacement sensors. Lastly, the characteristics experiment of the robot is finished. The result shows the magnetic levitation force is suitable for the micro-manipulator robot driven source.

Keywords

cerebellar model arithmetic computers; fuzzy control; magnetic levitation; micromanipulators; electric magnets; fuzzy cerebella model articulation controller control system; magnetic levitation force; micro-manipulator robot; Control system synthesis; Fuzzy control; Fuzzy systems; Hardware; Magnetic forces; Magnetic levitation; Manipulators; Micromanipulators; Power system modeling; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2004 IEEE International Conference on

ISSN

1062-922X

Print_ISBN

0-7803-8566-7

Type

conf

DOI

10.1109/ICSMC.2004.1401023

Filename

1401023