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.


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    Title :

    Model based maglev microrobotic motion control


    Additional title:

    Mikroroboterbewegungsregelung mit Magnetschwebetechnik auf Modellbasis


    Contributors:


    Publication date :

    1991


    Size :

    6 Seiten, 10 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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