Design Optimization And Experimental Characterization Of A Novel Magnetically Actuated Finger Micromanipulator

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Design Optimization And Experimental Characterization Of A Novel Magnetically Actuated Finger Micromanipulator

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Author : Mohammad Al Mashagbeh
language : en
Publisher:
Release Date : 2018

Design Optimization And Experimental Characterization Of A Novel Magnetically Actuated Finger Micromanipulator written by Mohammad Al Mashagbeh and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018 with categories.

The ability of external magnetic fields to precisely control micromanipulator systems has received a great deal of attention from researchers in recent years due to its off-board power source. As these micromanipulators provide frictionless motion, and precise motion control, they have promising potential applications in many fields. Conversely, major drawbacks of electromagnetic micromanipulators, include a limited motion range compared to the micromanipulator volume, the inability to handle heavy payloads, and the need for a large drive unit compared to the size of the levitated object, and finally, a low ratio of the generated magnetic force to the micromanipulator weight. To overcome these limitations, we designed a novel electromagnetic finger micromanipulator that was adapted from the well-known spherical robot. The design and optimization procedures for building a three Degree of Freedoms (DOF) electromagnetic finger micromanipulator are firstly introduced. This finger micromanipulator has many potential applications, such as cell manipulation, and pick and place operations. The system consists of two main subsystems: a magnetic actuator, and an electromagnetic end-effector that is connected to the magnetic actuator by a needle. The magnetic actuator consists of four permanent magnets and four electromagnetic coils that work together to guide the micromanipulator finger in the xz plane. The electromagnetic end-effector consists of a rod shape permanent magnet that is aligned along the y axis and surrounded by an electromagnetic coil. The optimal configuration that maximizes the micromanipulator actuation force, and a closed form solution for micromanipulator magnetic actuation force are presented. The model is verified by measuring the interaction force between an electromagnet and a permanent magnet experimentally, and using Finite Element Methods (FEM) analysis. The results show an agreement between the model, the experiment, and the FEM results. The error difference between the FEM, experimental, and model data was 0.05 N. The micromanipulator can be remotely operated by transferring magnetic energy from outside, which means there is no mechanical contact between the actuator and the micromanipulator. Moreover, three control algorithms are designed in order to compute control input currents that are able to control the position of the end-effector in the x, y, and z axes. The proposed controllers are: PID controller, state-feedback controller, and adaptive controller. The experimental results show that the micromanipulator is able to track the desired trajectory with a steady-state error less than 10 μm for a payload free condition. Finally, the ability of the micromanipulator to pick-and-place unknown payloads is demonstrated. To achieve this objective, a robust model reference adaptive controller (MRAC) using the MIT rule for an adaptive mechanism to guide the micromanipulator in the workspace is implemented. The performance of the MRAC is compared with a standard PID controller and state-feedback controller. For the payload free condition, the experimental results show the ability of the micromanipulator to follow a desired motion trajectory in all control strategies with a root mean square error less than 0.2 mm. However, while there is payload variation, the PID controller response yields a non smooth motion with a large overshoot and undershoot. Similarly, the state-feedback controller suffers from variability of dynamics and disturbances due to the payload variation, which yields to non-smooth motion and large overshoot. The micromanipulator motion under the MRAC control scheme conversely follows the desired motion trajectory with the same accuracy. It is found that the micromanipulator can handle payloads up to 75 grams and it has a motion range of ∓ 15 mm in all axes.

The Engineering Index Annual

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Author :
language : en
Publisher:
Release Date : 1992

The Engineering Index Annual written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1992 with Engineering categories.

Since its creation in 1884, Engineering Index has covered virtually every major engineering innovation from around the world. It serves as the historical record of virtually every major engineering innovation of the 20th century. Recent content is a vital resource for current awareness, new production information, technological forecasting and competitive intelligence. The world?s most comprehensive interdisciplinary engineering database, Engineering Index contains over 10.7 million records. Each year, over 500,000 new abstracts are added from over 5,000 scholarly journals, trade magazines, and conference proceedings. Coverage spans over 175 engineering disciplines from over 80 countries. Updated weekly.

International Aerospace Abstracts

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Author :
language : en
Publisher:
Release Date : 1989

International Aerospace Abstracts written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1989 with Aeronautics categories.

Design Modeling And Position Control Of A Magnetically Actuated Five Axis Compliant Micro Manipulator

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Author : Yanhai Ren
language : en
Publisher:
Release Date : 2016

Design Modeling And Position Control Of A Magnetically Actuated Five Axis Compliant Micro Manipulator written by Yanhai Ren and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.

Atomic force microscope is widely applied in biology, tribology, material science and chemistry areas due to its high spatial resolution, flexible working environment and few constraints on sample properties. Due to the geometry of conventional AFM cantilever, however, the accessibility of the probe is greatly limited, resulting artifacts when scanning samples with large geometry variation and constraints on its flexibility when working as a manipulator. In this research, the design and position control of a novel micro-manipulator is proposed which possesses five DOFs, namely three translational and two rotational DOFs. The manipulator can work as a probe for AFM and actively change the tip orientation such that it always aligns along the normal direction of the sample. In this way the accessibility of the tip will be greatly enlarged to reduce imaging artifacts for samples with large surface variation. Furthermore, it can serve as a manipulator to perform machining and manipulation tasks in 3D space at nanoscale. Specifically, the structure design of the five-axis compliant manipulator and the associated magnetic actuation system are presented. The quasi static and dynamic models of the magnetically actuated manipulator are established and the corresponding current and force inverse models are solved and validated based on FE analysis. At last the position controller in both continuous and discrete time domain is advanced based on feedback linearization. The augmented state estimator is designed to estimate the tipsample interaction force during contact phase when AFM works in tapping mode. The estimated force can be further utilized as a feedback signal to form the outer force control loop. The performance of the position controller is validated by transient analysis in ANSYS.