Noncontact Manipulation of Objects Using Magnets

使用磁铁非接触式操纵物体

• 批准号: 05452171
• 负责人: NAKAMURA Tatsuya
• 金额: $ 4.1万
• 依托单位: MIE UNIVERTSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (B)
• 财政年份: 1993
• 资助国家: 日本
• 起止时间: 1993 至 1994
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-05452171/
• 关键词: magnetic actuator; magnetic levitation; noncontact manipulation; micromachine; manipulation; robot

Noncontact manipulation technologies are important especially in micromachine applications because of their small working spaces. This research aims at development of mechanism, control andmeasurement for magnetically levitated movement of small objects in a larger space compared with an object sizeFirst, we propose a new magnetic mechanism for levitated movement of a small magnet in a 2 dimensional vertical space. This mechanism consists of two electromagnets, a permanent magnet for gravity compensation and a yoke. A common polepiece connecting two electromagnets is essential for producing strong vertical forces in a wide range. Horizontal and vertical positions of the small magnet are determined by the ratio and the sum of the two electromagnet currents, respectively. A prototype is constructed and used to verify the effectiveness of the mechanism expermentally.Second, the above principle is extended to a 3 dimensional case. A prototype, which consists of four electromagnets, a perma … More nent magnet for gravity compensation and a yoke, is constructed. Several types of polepiece are tested experimentally and its design conditions are investigated.Third, a mechanism for levitated movement of a nonmagnetic metal is considered. It is known that an alternating magnetic field produces a repulsive force to nonmagnetic metals. The possibility of the use of this method is tested by constructing a testbed and its design conditions are investigated.Finally, the use of ultrasonic sensors for measurement in magnetic levitation is investigated, while laser sensors are used in the experiments above. Ultrasonic sensors are cost effective and useful for measurement in complicated environments such as inside human bodies. However, they have never been used in magnetic levitation because of their low resolution. It is show nexperimentally that magnetic levitation with ultrasonic sensors is made possible by Kalman filters.In conclusion, basic technologies for magnetically levitated movement of small objects are established. The result of this research will be extended to micromachines with several machine parts. Less

非接触操作技术在微机械应用中尤其重要，因为它们的工作空间小。本研究的目的是发展小物体在较大空间内磁悬浮运动的机理、控制和测量。首先，我们提出了一种新的用于小磁体在二维垂直空间内悬浮运动的磁机构。该机构由两个电磁铁组成，一个用于重力补偿的永磁铁和一个轭铁。连接两个电磁铁的共用极片对于在大范围内产生强垂直力是必不可少的。小磁体的水平和垂直位置分别由两个电磁体电流的比率和总和确定。构造了一个样机，并通过实验验证了该机构的有效性。其次，将上述原理推广到三维情形。一个原型，它由四个电磁铁，一个永久磁铁， ...更多信息 用于重力补偿的磁体和磁轭。对几种类型的极靴进行了实验测试，并对极靴的设计条件进行了研究。第三，研究了一种金属悬浮运动机构。众所周知，交变磁场对金属产生排斥力。通过搭建实验台，验证了该方法的可行性，并研究了其设计条件。最后，研究了超声波传感器在磁悬浮测量中的应用，并在上述实验中采用了激光传感器。超声波传感器具有成本效益，适用于复杂环境（如人体内部）的测量。然而，由于其分辨率低，它们从未用于磁悬浮。实验表明，卡尔曼滤波器可以实现超声波传感器磁悬浮，从而为微小物体磁悬浮运动奠定了基础。本研究的结果将推广到具有多个机械零件的微机械。少

项目成果

山羽和夫,冨長博,中村達也,三宅洋一: "二次元画像情報と近接センサからの奥行き距離推定システム" 日本機械学会論文集(C編). 第59巻. 3116-3122 (1993)

Kazuo Yamaba、Hiroshi Tominaga、Tatsuya Nakamura、Yoichi Miyake：“基于二维图像信息和接近传感器的深度距离估计系统”日本机械工程师学会汇刊（ed. C）（1993 年）。 ）

Tatsuya Nakamura: "Mechanism and Control for Noncontact Manipulation of Objects Using Magnets (to be published)" Research Peport of Mie University. Vol.20. (1995)

Tatsuya Nakamura：“使用磁铁非接触式操纵物体的机制和控制（待出版）”三重大学的研究报告。

中村,達也: "微小磁石の2次元磁気浮上移動のメカニズム" 日本機械学会論文集C編. (掲載確定).

中村达也：《微磁体二维磁悬浮运动的机理》日本机械工程学会会议录，C版（确认出版）。

本間,敬子、新井,健生、安達,弘典、中村,達也: "掘削ロボットのための地山モデル" 日本ロボット学会誌. 第12巻. 621-629 (1994)

Homma、Keiko、Arai、Takeo、Adachi、Hironori、Nakamura、Tatsuya：“挖掘机器人的地面模型”日本机器人学会杂志 12. 621-629 (1994)。

Tatsuya Nakamura: "A Mechanism for Magnetically Levitated Movement in Two Dimensional Space (in Japanese)" Trans.of JSME (C). Vol.61. 1935-1941 (1996)

Tatsuya Nakamura：“二维空间磁悬浮运动的机制（日语）”Trans.of JSME (C)。