Analysis and Control of 2-DOF Magnetic Levitation Stage Using Force Decoupling Theorem

Park, Gwangmin; Kim, Chul-Soo; Park, Kyihwan

doi:10.1109/sice.2006.315818

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“…Another typical example of using parallel structure is a magnetic levitation stage which uses permanent magnet [1], [18]- [20]. The common feature of these stages is that there are neither deformations nor nonlinearities since the end effector (e.g., mobile platform) levitates by using magnetic force so that there is no friction.…”

Section: Introductionmentioning

confidence: 99%

Design and implementation of a 2-DOF decoupled kinematic actuator module

Ihn

Moon

Choi

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents a comprehensive study on the design and implementation about 2-DOF decoupled kinematic actuator module based on the parallel structure with a high mechanical stiffness. The basic structure of 2-DOF decoupled kinematic actuator module has two motion units. Since one motion unit can be moved in only one direction, various applications are available and it can solve the parasitic motion fundamentally. The two motion units also have fine motion and coarse motion respectively. Besides it can be variously modified based on how the actuators are connected. Then the hardware of 2-DOF decoupled kinematic actuator module is implemented with one actuator and two additional locking devices. And the performance of the hardware will be evaluated by experimental system.

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Section: Introductionmentioning

confidence: 99%