Design and Modeling of a 3-D Magnetic Actuator for Magnetic Microbead Manipulation.
Design and Modeling of a 3-D Magnetic Actuator for Magnetic Microbead Manipulation.
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DOI：
10.1109/tmech.2011.2105500
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发表时间：
2011-06-01
期刊：
影响因子：
--
通讯作者：
Menq CH
中科院分区：
文献类型：
--
作者：
Zhang Z;Menq CH
本文介绍了一种能够对磁性微珠进行三维操纵的六极磁致动器的设计、实现、建模和分析。该磁致动器采用六个尖端磁极、六个致动线圈和一个磁轭。磁极将线圈产生的磁通量集中到工作空间，从而产生具有大磁场梯度的高磁场，用于在磁性微珠上产生磁力。然后建立了集中参数磁力模型，以表征施加在磁性微珠上的磁力相对于施加在线圈上的电流的非线性以及磁力在工作空间中的位置相关性。然后，利用力模型对所设计系统的力产生能力进行了探讨。在此基础上，建立了反力模型，研究了反力模型对磁力驱动性能的影响。反力模型便于实施反馈控制律，以稳定和控制磁性微珠的运动。利用与磁珠稳定运动控制有关的磁力的实验结果验证了力模型的有效性。
This paper presents the design, implementation, modeling, and analyses of a hexapole magnetic actuator that is capable of 3-D manipulation of a magnetic microbead. The magnetic actuator employs six sharp-tipped magnetic poles placed in hexapole configuration, six actuating coils, and a magnetic yoke. The magnetic poles concentrate the magnetic flux generated by the coils to the workspace, resulting in a high magnetic field with a large field gradient for magnetic force generation on the magnetic microbead. A lumped-parameter magnetic force model is then established to characterize nonlinearity of the magnetic force exerting on the magnetic microbead with respect to the applied currents to the coils and the position dependence of the magnetic force in the workspace. The force generation capability of the designed system is then explored using the force model. Moreover, an inverse force model is derived and its effect on the magnetic actuation capability is investigated. The inverse force model facilitates the implementation of a feedback control law to stabilize and control the motion of a magnetic microbead. Experimental results in terms of the magnetic force in relation to stable motion control of a magnetic microbead are used to validate the force model.