Actively Controlled Hexapole Electromagnetic Actuating System Enabling 3-D Force Manipulation in Aqueous Solutions
Actively Controlled Hexapole Electromagnetic Actuating System Enabling 3-D Force Manipulation in Aqueous Solutions
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DOI：
10.1109/tmech.2015.2503274
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发表时间：
2016-06-01
影响因子：
6.4
通讯作者：
Menq, Chia-Hsiang
中科院分区：
文献类型：
--
作者：
Long, Fei;Matsuura, Daisuke;Menq, Chia-Hsiang
本文介绍了过驱动和主动控制六极电磁驱动系统的设计、建模和校准，该系统用于稳定和推动水溶液中的微观磁性颗粒。与Zhang等人论文中的二维四重磁性镊子相比。 （IEEE/ASME Trans. Mechatronics，2010）以及Zhang和Menq论文中的3-D磁致动器（IEEE/ASME Trans. Mechatronics，2011），新的电磁致动系统实现了显着更大的力生成能力，并大大提高了工作空间中3-D力的可控性。这些改进是通过增强六个电磁极的设计和合成以及改进过驱动系统的电流分配来实现的。通过实验校准推导并验证了系统的集总参数六极力模型。然后使用它来设计逆向建模，实现实时电流分配，从而能够最有效地操纵施加在工作空间中心的粒子上的 3D 磁力。该系统设计用于活细胞实验。
This paper presents the design, modeling, and calibration of an overactuated and actively controlled hexapole electromagnetic actuating system, which is implemented to stabilize and propel a microscopic magnetic particle in aqueous solutions. Compared to the 2-D quadruple magnetic tweezers in the paper by Zhang et al. (IEEE/ASME Trans. Mechatronics, 2010) and the 3-D magnetic actuator in the paper by Zhang and Menq (IEEE/ASME Trans. Mechatronics, 2011), the new electromagnetic actuating system achieves significantly greater force generation capability andmuch improved controllability of 3-D force in the workspace. These improvements are accomplished through enhanced design and synthesis of the six electromagnetic poles and improved current allocation of the overactuated system. A lumped parameter hexapole force model of the system is derived and validated through experimental calibration. It is then used to devise inverse modeling, which is implemented to realize real-time current allocation to enable the most effective manipulation of the 3-D magnetic force exerting on the particle at the center of the workspace. The system is designed for use with live cell experiments.