Magnetic Levitation and It's Application to Telemanipulation

Magnetic levitation technology has shown a great deal
of promise for micromanipulation tasks. Due to the
lack of mechanical contact, magnetic levitation
systems are free of problems caused by friction,
wear, sealing and lubrication. These advantages have
made magnetic levitation systems a great candidate
for clean room applications.

In this work, a new large gap magnetic levitation
system is designed, developed and successfully
tested. The system is capable of levitating a 6.5(gr)
permanent magnet in 3D space with an air gap of
approximately 50(cm) with the traveling range of 20mm
x 20mm x 30mm. The overall positioning accuracy of
the system is 60 micro meters.

With the aid of finite elements method, an optimal
geometry for the magnetic stator is proposed. Also,
an energy optimization approach is utilized in the
design of the electromagnets.

Several control strategies have been proposed for the
system and the performance of the system has been
experimentally evaluated.

Autorentext

Dr. Shameli has received his Ph.D. degree in MechatronicsEngineering from the University of Waterloo, Canada in 2008.His work has been focused on modeling and control ofnonlinear systems and in particular, magnetic levitation systems.His research interests include nonlinear systems, drug delivery,and methods of Non-Destructive Testing.

Klappentext

Magnetic levitation technology has shown a great dealof promise for micromanipulation tasks. Due to thelack of mechanical contact, magnetic levitationsystems are free of problems caused by friction,wear, sealing and lubrication. These advantages havemade magnetic levitation systems a great candidatefor clean room applications. In this work, a new large gap magnetic levitationsystem is designed, developed and successfullytested. The system is capable of levitating a 6.5(gr)permanent magnet in 3D space with an air gap ofapproximately 50(cm) with the traveling range of 20mmx 20mm x 30mm. The overall positioning accuracy ofthe system is 60 micro meters.With the aid of finite elements method, an optimalgeometry for the magnetic stator is proposed. Also,an energy optimization approach is utilized in thedesign of the electromagnets.Several control strategies have been proposed for thesystem and the performance of the system has beenexperimentally evaluated.