Design and implementation of a magnetically suspended microrobotic pick-and-place system

Abstract

Micromanipulation is an emerging technology in such diverse areas as precision engineering, microfabrication, and microsurgery. Each of these areas impose certain technological constraints and requirements in fabrication, actuation, and control. This paper performs a review on the latest technologies of microrobotic actuation techniques and suggests a suitable technique for the actuation of a magnetically levitated microrobot. The microrobot, suspended in an externally produced magnetic field, consists of a gripper attached to a series of permanent magnets and is capable of simple pick and place tasks. A number of electromagnets produce the external magnetic field and three laser sensors feedback the position of the levitated microrobot. Through finite element analysis, performance of the levitation system was investigated, and simulations and experiments were carried out to demonstrate the practical capabilities of the proposed system.

Design and Fabrication of a Magnetic Actuator for Torque and Force Control Estimated by the ANN/SA Algorithm

“…where ∆E is the error between the new solution and current solution, y is the current temperature, and k is the acceptance constant, based on the range of weights, biases, and inputs. As (13) indicates, the algorithm will frequently be accepting new results at high temperatures, however becomes more selective at the lower ones. The cooling schedule can be exponential, linear, and temperature cycling.…”

“…Magnetic actuators are also implemented in micro-electro-mechanical systems (MEMSs) such as micropumps [11], stable grasping [12], pick-and-place system [13], small force sensing [14], contactless delivery [15], and microsurgery [16]. Microsurgery can provide a minimally invasive surgery environment and offer benefits such as lower infection risk, fewer medical complications, and faster rehabilitation [17,18].…”

Incremental Inspection for Microrobotic Quality Assurance

“…Early examples of parallel microrobotic systems include [1][2][3][4][5][6][7][8][9][10]. In related work, several investigations have explored sensing [11][12][13][14], and fabrication and/or inspection of parts [4,[15][16][17][18].…”

Development of crystalline magnetic thin films for microlevitation

“…Therefore, in recent years, magnetically levitated microdevices found many applications such as micromotors, 1 microsensors, 2 micropositioning stages, 3 and microrobots. 4 One requirement for magnetically levitated microsystems is that the system itself should carry a strong magnet to interact with the external magnetic field and form the levitating force. For conventional large-scale systems, commercially available magnets such as NdFeB and SmCo can be used.…”